adaptive control system and method in a land vehicle to track a route, particularly in an autonomous driving scenario

摘要

A method for controlling lateral movement of a land vehicle prepared to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising determining a lateral displacement of the center of mass of the vehicle from the predetermined trajectory; determining an anticipation error defined as a distance from a virtual anticipation position of the vehicle's center of mass from the predetermined path; and controlling the steering angle of the vehicle so as to also minimize lateral displacement and the first derivative of said anticipation error over time.