Method for steering a vehicle

US9834251B2 · kind B2 · utility

Assignee

• Robert Bosch GmbH · DE

Inventors

• Martin Boeck · Neunkirchen, AT
• Andreas Kugi · Wien, AT
• Patrik Zips · Wien, AT

Key dates

• Filing date: Aug 14, 2014
• Grant date: Dec 5, 2017
• Expiry date: Dec 4, 2034

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B62D15/027
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

For steering a vehicle around obstacles, proceeding along a path from a starting position to an end position, the path including linear sub-paths which are defined by an increment η and a steering angle δ, a method includes: a) determining a maximum steering angle range and a maximum and a minimum increment range; b) determining the present distance eP from the end position, the target angle θO, and the angle difference eθ between the present vehicle angle and the target angle; c) performing an optimization method for ascertaining a sub-path by minimizing the value of a cost function lo assigned to the sub-path; d) determining the new position by adding the ascertained sub-path to the present position; and e) repeating steps (b) through (d) until the end position is reached.