System and method for controlling a ground vehicle
US6901319B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 6, 2004 |
| Grant date | May 31, 2005 |
| Priority date | — |
| Expiry date | Jul 6, 2024 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0278
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present invention is a method for controlling a ground vehicle, for automated steering control of the vehicle or the like. The method of the present invention includes using a GPS receiver or the like and an inertial gyro or the like for providing automated steering control of the ground vehicle. A difference between a measured off-track error and a lateral error command is fed into a lateral error control loop, producing a lateral velocity command. Then, a difference between a measured lateral velocity and the lateral velocity command is fed into a lateral velocity control loop, producing a yaw rate command. Finally, a difference between a measured yaw rate, the yaw rate command, and a curved track yaw rate for the intended path of the vehicle is computed and fed into a yaw rate control loop, producing a valve command for steering the ground vehicle on or towards its intended path. Inputs such as measured wheel slip and the like are used to estimate the steering authority of the steered wheels of the vehicle; the estimated steering authority and/or the actions of a user driving the vehicle are used to adjust the gain of the yaw rate control loop.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.