METHOD FOR AUTOMATICALLY DRIVING A VEHICLE, IN PARTICULAR A BUS IN A STORAGE CENTER, AND DEVICE IMPLEMENTING SAID METHOD

摘要

The method comprises at least the following phases: a first phase in which a trajectory (33) to be generated is generated, the trajectory being cut into a series of sections whose starting point forms an intermediate position; a second phase in which, at the current intermediate position of said vehicle: a non-zero curvature is defined for each of the next n horizon prediction sections, said curvature gradually varying from one section to the next; ? it is predicted, before said vehicle engages a movement, whether said trajectory can be tracked on said prediction horizon, as a function of imposed constraints and estimated lateral and / or longitudinal slips; a third phase in which, if said trajectory can be followed, the steering angle of said front wheels (31) and the linear traction speed of said vehicle are controlled according to the state of said vehicle and the lateral sliding and / or or longitudinal to join the center of the axle of said rear wheels (32) on the path; if the trajectory can not be followed, a new alignment of said vehicle to said target position is performed and a new reference trajectory is generated according to the first phase.