US 12,330,638 B2
Method and device for implementing a closed loop of an advanced driving aid device
Pedro Kvieska, Versailles (FR); Simon Mustaki, Paris (FR); Francois Fauvel, Boullay les Troux (FR); Philippe Chevrel, Carquefou (FR); and Mohamed Yagoubi, Nantes (FR)
Assigned to AMPERE S.A.S., Boulogne-Billancourt (FR)
Appl. No. 17/251,080
Filed by RENAULT s.a.s, Boulogne-Billancourt (FR)
PCT Filed May 28, 2019, PCT No. PCT/EP2019/063868
§ 371(c)(1), (2) Date Dec. 10, 2020,
PCT Pub. No. WO2019/238418, PCT Pub. Date Dec. 19, 2019.
Claims priority of application No. 18 55071 (FR), filed on Jun. 11, 2018.
Prior Publication US 2021/0323551 A1, Oct. 21, 2021
Int. Cl. B60W 30/12 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 60/0015 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4026 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A method for optimizing a closed control loop of an advanced driver-assistance system to sideways control a vehicle, comprising:
synthesizing, via processing circuitry, a controller of the closed control loop by solving an optimization problem for a family of at least two bicycle models of the vehicle, the optimization problem being constrained to
minimize a first norm representing a first energy of a first transfer function between an input signal used to generate a perturbation signal representing a road curvature and an output signal representing a change in an angle of a steering wheel,
each of the at least two bicycle models of the vehicle having, with respect to another of the at least two bicycle models, at least one dispersion chosen from a dispersion in a mass of the vehicle, a dispersion in a cornering stiffness of an axle assembly of the vehicle, a dispersion in a position of a center of gravity of the vehicle, and a dispersion in a moment of inertia of the vehicle; and
generating, via the processing circuitry, a vehicle control output signal to control the vehicle based on a closed loop transfer function controlled by the synthesized controller.