US 11,673,582 B1
Control allocation system for path tracking in a vehicle
Yubiao Zhang, Sterling Heights, MI (US); Nikolai K. Moshchuk, Grosse Pointe Farms, MI (US); and Bakhtiar B. Litkouhi, Washington, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 6, 2021, as Appl. No. 17/542,680.
Int. Cl. B60W 60/00 (2020.01); B60W 50/02 (2012.01); B60W 50/04 (2006.01); B60W 40/13 (2012.01)
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
OG exemplary drawing
 
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.