A lane-keep assist system for a vehicle includes a control circuit with a PID controller receiving as input a set point signal and outputting a control signal for controlling a motor for providing torque to steering gear. The controller is in a closed loop with the motor and minimises an error value indicating a difference between target and actual lane position of the vehicle. A feedforward neural network has an input layer of neurons, at least one hidden layer of neurons, and an output layer with at least one output neuron, so that the input layer receives the demand signal, the drive signal output from the controller and the error value, so as to determine one or more of the P gain, I gain and D gain terms used by the PID controller. The neural network also receives as a feedforward term vehicle speed and/or lane curvature.
Automotive vehicle lane keep assist system
06.07.2022
Patent
Elektronische Ressource
Englisch
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge |