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SYSTEMS AND METHODS FOR LOW LEVEL FEED FORWARD VEHICLE CONTROL STRATEGY
SYSTEMS AND METHODS FOR LOW LEVEL FEED FORWARD VEHICLE CONTROL STRATEGY
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机译:低水平前馈车辆控制策略的系统和方法
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摘要
Systems and methods are provided for controlling an autonomous vehicle. A method includes using a lateral controller system for determining a vehicle's curvature. A longitudinal controller system is used for determining desired vehicle acceleration. The longitudinal controller system uses a control loop with respect to a velocity error and a feedforward term. Commands are generated based on the output of the lateral controller system and the longitudinal controller system.
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