US 11,987,241 B2
Monotonic path tracking control for lane keeping and lane following
Jimmy Zhong Yan Lu, Markham (OM); Mohammadali Shahriari, Markham (OM); and Reza Zarringhalam, Whitby (OM)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Oct. 23, 2020, as Appl. No. 17/078,320.
Prior Publication US 2022/0126823 A1, Apr. 28, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 60/001 (2020.02); B60W 2510/202 (2013.01); B60W 2520/14 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating an autonomous vehicle, comprising:
receiving a disturbance force or yaw moment on the autonomous vehicle that causes a path of the autonomous vehicle to deviate toward a lane center of a road and away from an initial track lane being tracked by the autonomous vehicle, the initial track lane being parallel to the lane center;
resisting an effect of the disturbance force or yaw moment via a steering torque on the autonomous vehicle by minimizing a tracking error between the path of the autonomous vehicle and the initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle;
establishing a final track lane at a closer of a lateral position of the inflection point and the lane center of the road to the initial track lane; and
tracking the path to the final track lane.