US 12,240,492 B2
Methods and systems for vehicle control under degraded lane perception range
Tetyana V Mamchuk, Walled Lake, MI (US); Paul A Adam, Milford, MI (US); Reza Zarringhalam, Whitby (CA); and Zhi Li, Unionville (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Dec. 8, 2022, as Appl. No. 18/063,650.
Prior Publication US 2024/0190459 A1, Jun. 13, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/105 (2012.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [B60W 40/105 (2013.01); G06V 20/588 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle control system for a vehicle, comprising:
a sensing system configured to provide vehicle dynamics data;
a perception system configured to provide perception data representing a forward looking scene of the vehicle;
an Electronic Power Steering (EPS) system;
at least one processor in operable communication with the perception system, the sensing system and the EPS system, the at least one processor configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to implement a motion planner and a lateral controller in a control loop, wherein the program instructions are further configured to cause the at least one processor to:
execute a first mode:
wherein the motion planner is configured to determine a desired trajectory based on the perception data and to provide the desired trajectory to the lateral controller and the lateral controller is configured to generate control commands for the EPS system based on an error between the desired trajectory and an actual trajectory at a first look-ahead (LA) point, wherein the actual trajectory is determined by the lateral controller based on a vehicle dynamics model and the vehicle dynamics data;
wherein the motion planner is configured to receive lane information from the perception system including a range of the lane information;
wherein the motion planner is configured to receive the first LA point from the lateral controller; and
wherein the motion planner is configured to compare the first LA point and the range to determine whether the range extends to a range end point that is closer to the vehicle than the first LA point; and
the program instructions configured to cause the at least one processor to switch to a second mode in response to determining that the range extends to a range end point that is closer to the vehicle than the first LA point;
in the second mode:
the motion planner configured to request the lateral controller to provide a closer LA point relative to the vehicle;
the lateral controller configured to determine the closer LA point and send the closer LA point to the motion planner, wherein the lateral controller is configured to generate the control commands for the EPS system based on the error between the desired trajectory and the actual trajectory at the closer LA point; and
the motion planner configured to generate the desired trajectory based on the perception data and the closer LA point.