Method and apparatus for vehicle path tracking with error correction
US9567004B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 29, 2015 |
| Grant date | Feb 14, 2017 |
| Priority date | — |
| Expiry date | Dec 29, 2035 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D15/025
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method for vehicle path tracking with error correction comprises steps of: acquiring vehicle instant information and a target path; developing a predictive path in accordance with the vehicle instant information; determining a vehicle yaw rate threshold value in accordance with the vehicle instant information; calculating a steering angle corresponding to the vehicle yaw rate threshold value; estimating a lateral error correction value corresponding to the steering angle; determining whether the lateral error correction value is not greater than an error value between the target path and the predictive path; controlling a vehicle to turn the steering angle corresponding to the lateral error correction value when the lateral error correction value is less than the error value; and controlling the vehicle to turn the steering angle corresponding to the error value when the lateral error correction value is greater than the error value.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.