Adaptive control method and system in a terrestrial vehicle for tracking a route, particularly in an autonomous driving scenario
US11318936B2 · kind B2 · utility
4Cited by
2References
11Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Oct 31, 2017 |
| Grant date | May 3, 2022 |
| Priority date | — |
| Expiry date | Aug 5, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2040/1315
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.