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ADAPTIVE CONTROL METHOD AND SYSTEM IN A TERRESTRIAL VEHICLE FOR TRACKING A ROUTE, PARTICULARLY IN AN AUTONOMOUS DRIVING SCENARIO
ADAPTIVE CONTROL METHOD AND SYSTEM IN A TERRESTRIAL VEHICLE FOR TRACKING A ROUTE, PARTICULARLY IN AN AUTONOMOUS DRIVING SCENARIO
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机译:陆地车辆,尤其是在自动驾驶场景中,用于跟踪路线的自适应控制方法和系统
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摘要
A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.
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