	US 12,434,722 B2
	Methods and systems for lateral control of a vehicle
Seyed Amin Sajadi Alamdari, Wuppertal (DE); and Anand Vijaykumar, Wuppertal (DE)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by APTIV TECHNOLOGIES LIMITED, St. Michael (BB)
Filed on Sep. 27, 2022, as Appl. No. 17/953,568.
Claims priority of application No. 21199911 (EP), filed on Sep. 29, 2021.
Prior Publication US 2023/0100742 A1, Mar. 30, 2023
Int. Cl. B60W 50/02 (2012.01); B60W 30/02 (2012.01); G05B 13/04 (2006.01)

CPC B60W 50/0205 (2013.01) [B60W 30/02 (2013.01); G05B 13/048 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01)]

11 Claims

1. A computer-implemented method for lateral control of a vehicle, the computer-implemented method being carried out by computer hardware components and comprising:

determining a location error of the vehicle;

determining an orientation error of the vehicle;

determining a cost function based on the location error and the orientation error using a circular transformation; and

processing the cost function in a model predictive controller to control the vehicle laterally, wherein:

the cost function includes an integral over an error term,

the error term involves both the location error and the orientation error,

the error term includes a product based on the location error and the orientation error,

the cost function is determined according to equations (a) and (b):

e_tr=cos θ_e²*tan⁻¹(d−d_ref)+sin θ_e²*θ_e (a)

J=∫₀^Te_tr² (b)

θ_erepresents the orientation error with respect to a reference,

d represents an initial value of a lateral offset from a vehicle sensor input,

d_refrepresents a reference value that the vehicle should track,

J represents the cost function that needs to be minimized, and

T represents a prediction horizon.