Method and Apparatus for Real-Time Lateral Interference Detection for Vehicles
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United States of America
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Apr 10, 2025
app pub date -
Sep 30, 2024
filing date -
Sep 30, 2024
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Abstract
A method is for real-time lateral interference detection for vehicles, including pre-calibration of a desired yaw rate induced by a steering torque applied by Electric Power Steering (EPS) at different vehicle speeds. The method includes obtaining the steering torque applied by the EPS at a first time and the vehicle speed at the first time. The method further includes calculating (i) an estimated yaw rate at the first time based on the steering torque and the vehicle speed at the first time, and (ii) a relationship between the desired yaw rate and the vehicle speed and the steering torque applied by the EPS. The method further includes detecting and obtaining an actual yaw rate at a second time using a yaw rate sensor, and comparing the estimated yaw rate with the actual yaw rate.
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