AUTOMATIC DRIVING METHOD FOR INSERTING AND REMOVING A VEHICLE IN A DOCKING STATION, AND MONITORING DEVICE IMPLEMENTING SUCH A METHOD

摘要

The method comprises: - a preliminary phase in which said vehicle is aligned to engage to said target position; - a first phase in which a trajectory is generated (83) to follow said reference, depending on the state of the vehicle and the target position, said state being defined by the current position and orientation of the vehicle; - a second phase wherein said reference path being cut into sections, it is predicted from each section and before the vehicle engages a movement if said reference path can be followed depending on space constraints imposed and landslides lateral and / or longitudinal estimated; - in a third phase, if said path may be followed, it controls the steering angle of said wheels (81, 82) and the linear speed of traction of the vehicle based on the vehicle condition and lateral sliding and / or longitudinal, to join the centers of said wheels on the reference trajectory (83).