首页>
外国专利>
Path generation algorithm for automated lane centering and lane changing control system
Path generation algorithm for automated lane centering and lane changing control system
展开▼
机译:自动车道对中和换道控制系统的路径生成算法
展开▼
页面导航
摘要
著录项
相似文献
摘要
A system for providing path generation for automated lane centering and/or lane changing purposes. The system includes a desired path generation processor that receives signals detecting the roadway on which the vehicle is traveling, a request for a lane change, vehicle state information and a steering angle of the vehicle. The system also includes a path prediction processor that predicts the vehicle path based on vehicle state information including vehicle longitudinal speed, vehicle lateral speed, vehicle yaw-rate and vehicle steering angle. The desired path information and the predicted path information are compared to generate an error signal that is sent to a lane change controller that provides a steering angle signal to turn the vehicle and reduce the error signal. The desired path generation processor can use a fifth order polynomial equation to determine the desired path of the vehicle based on the input signals.
展开▼