US 12,337,842 B2
Path-controlling module, associated path-controlling device and associated method
Maud Peyret, Paris (FR)
Assigned to AMPERE S.A.S., Boulogne-Billancourt (FR)
Appl. No. 17/998,557
Filed by RENAULT S.A.S, Boulogne-Billancourt (FR)
PCT Filed May 5, 2021, PCT No. PCT/EP2021/061863
§ 371(c)(1), (2) Date Nov. 11, 2022,
PCT Pub. No. WO2021/228657, PCT Pub. Date Nov. 18, 2021.
Claims priority of application No. 20 04668 (FR), filed on May 12, 2020.
Prior Publication US 2023/0211786 A1, Jul. 6, 2023
Int. Cl. B60W 30/18 (2012.01); B60W 40/10 (2012.01)
CPC B60W 30/18163 (2013.01) [B60W 40/10 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2552/53 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A path-control method for a vehicle, comprising:
modeling a path of the vehicle during a lane change using a Bézier curve linking a value of a parameter to a value of a lateral deviation of the vehicle with respect to a center of a lane on an ordinate axis and to a value of a time-dependent variable representative of a variation in a change in the path on an abscissa axis;
determining a setpoint state vector of a path-control device based on the lateral deviation, the time-dependent variable and the parameter; and
steering the vehicle using the path-control device based on a state variable so that the vehicle follows the modeled path.