US 12,441,306 B2
Automatic control method and system for the virtual confinement of a land vehicle within a track
Sergio Matteo Savaresi, Milan (IT); and Matteo Corno, Milan (IT)
Assigned to POLITECNICO DI MILANO, Milan (IT)
Appl. No. 18/879,338
Filed by POLITECNICO DI MILANO, Milan (IT)
PCT Filed Jun. 21, 2023, PCT No. PCT/IB2023/056405
§ 371(c)(1), (2) Date Dec. 27, 2024,
PCT Pub. No. WO2024/003674, PCT Pub. Date Jan. 4, 2024.
Claims priority of application No. 102022000013876 (IT), filed on Jun. 30, 2022.
Prior Publication US 2025/0162577 A1, May 22, 2025
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/12 (2020.01)
CPC B60W 30/095 (2013.01) [B60W 30/09 (2013.01); B60W 30/12 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of automatic confinement of a land vehicle comprising a control unit, a plurality of sensors configured to measure quantities indicative of a vehicle dynamic, at least one actuator configured to influence the dynamic of the vehicle, said plurality of sensors and said at least one actuator being connected to the control unit), the method comprising that the control unit performs steps of:
defining a set of points of a track within which the vehicle is free to move, said track including at least one edge that defines a boundary of the track that must not be crossed by the vehicle,
determining a vehicle dynamic based on the information provided by the plurality of sensors,
determining a spatial position of the vehicle based on the information provided by the plurality of sensors,
calculating an intervention area of the track based on the position and dynamic of the vehicle, and of the position from the at least one edge, the intervention area being contained within the track,
determining whether the vehicle is at least partially in the intervention area, and
in an affirmative case, controlling said at least one actuator to modify the vehicle dynamic to perform an exit maneuver that brings the vehicle outside said intervention area,
wherein calculating an intervention area comprises:
calculating a first collision risk area based on the current position and dynamic of the vehicle, the position from the at least one edge and an ability of the driver to modify the vehicle dynamic by acting on said at least one actuator,
calculating a second collision risk area based on the current position and dynamic of the vehicle, the position from the at least one edge and an ability of the control unit to modify the vehicle dynamic acting on said at least one actuator, wherein said first collision risk area and said second collision risk area correspond to regions of the track within which reaching and/or crossing said at least one edge is inevitable when the vehicle moving according to the current dynamic is driven by the driver or by the control unit, respectively, and
defining the intervention area as the area resulting from the difference between the first collision risk area and the second collision risk area.