US 12,330,642 B2
Vehicle systems and autonomous lane departure mitigation methods
Reza Zarringhalam, Whitby (CA); Jimmy Lu, Stouffville (CA); Jackson Barry McGrory, Mississauga (CA); Mohammed Raju Hossain, Scarborough (CA); Kin Man Michael Wong, Thornhill (CA); and Amirreza Mirbeygi Moghaddam, Toronto (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jul. 14, 2023, as Appl. No. 18/353,051.
Prior Publication US 2025/0018940 A1, Jan. 16, 2025
Int. Cl. B60W 30/12 (2020.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 30/0953 (2013.01); B60W 60/0013 (2020.02); B60W 60/0016 (2020.02); B62D 15/025 (2013.01); B60W 2540/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of assisting operation of a vehicle, the method comprising:
obtaining, by a controller associated with the vehicle, a reference lateral trajectory for the vehicle;
obtaining, by the controller, a current steering angle associated with the vehicle;
determining, by the controller, a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating the vehicle based at least in part on the current steering angle, a first difference between the control trajectory and the reference lateral trajectory and a second difference between the control trajectory and a lane boundary;
determining, by the controller, a steering angle command for the vehicle based at least in part on the control trajectory; and
autonomously operating, by the controller, one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.