CPC B60W 60/00186 (2020.02) [B60W 40/13 (2013.01); B60W 50/0225 (2013.01); B60W 50/045 (2013.01); B60W 2040/1315 (2013.01); B60W 2510/18 (2013.01); B60W 2510/20 (2013.01); B60W 2520/12 (2013.01); B60W 2520/14 (2013.01)] | 20 Claims |
12. A method of determining control actions for guiding a vehicle along a planned path of travel by a control allocation system, the method comprising:
determining, by one of more controllers of the vehicle, tracking errors and vehicle dynamics states based on a plurality of local path planning references;
receiving, by the one or more controllers, a fault signal indicating an electric power steering (EPS) system is non-functional;
in response to receiving the fault signal, determining a plurality of corrective constraints in real-time for controlling the EPS system and one or more redundant actuation systems;
solving a real-time constrained optimization problem for each sampling interval of the control allocation system to determine a plurality of control actions based on the plurality of corrective constraints and tracking errors;
distributing the control actions to one or more redundant actuation systems for controlling a plurality of wheels of the vehicle; and
determining a state space formulation based on the tracking errors, the vehicle dynamics states, and a tire lateral force approximation, wherein the state space formulation includes high-level control variables and an actuator Boolean matrix.
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