公开(公告)号：US20210323551A1

公开(公告)日：2021-10-21

申请号：US17251080

申请日：2019-05-28

Applicant: RENAULT s.a.s

Inventor： Pedro KVIESKA ,  Simon MUSTAKI ,  Francois FAUVEL ,  Philippe CHEVREL ,  Mohamed YAGOUBI

IPC: B60W30/12 ,  B60W60/00

Abstract: A method for implementing a closed loop of an advanced driving aid device for the lateral control of a motor vehicle includes synthesizing a controller of the closed loop by solving an optimization problem based on a bicycle model of the vehicle. A family of at least two bicycle models of the vehicle is established, these models having, with respect to one another, at least one dispersion chosen from among a dispersion of mass of the vehicle, a dispersion of drift rigidity on a drivetrain of the vehicle, a dispersion of the center of gravity of the vehicle, and a dispersion of the position of the matrix of inertia of the vehicle, the optimization problem being solved on the basis of all models of the family.