Method for calculating the steering angle of an autonomous motor vehicle, using magnetic field sensor for detection of magnetic markers, to determine future path from the positions of the last 3 or more markers

摘要

A reference line is formed by magnetic markers and distance vectors are formed between the motor vehicle mounted sensor and the markers. A prediction of the curvature of the reference curve is made each time a new marker is detected, with the reference curve approximated by a curve formed from at least the last three marker elements or from prior knowledge of the road path. A sensor path is determined and used to define the sensor position, from which the vehicle is steering path is determined. The invention also relates to a corresponding motor vehicle.