Steering angle control device of a self-driving motor vehicle

摘要

The invention relates to a device (1) for controlling the steering angle of a motor vehicle comprising a lateral controller (14) adapted to generate as an output a command to at least one actuator of a steering system (15). of the vehicle acting on the steering angle of the steered wheels of the vehicle via the angle of rotation of the steering wheel of the vehicle, so as to follow a path in an automated driving mode, said device being characterized in that it further comprises a module (11) for analyzing the trajectory capable of detecting road conditions without longitudinal slope and without lateral inclination and, when such road conditions are detected, to output a current value d steering angle error of the steered wheels of the vehicle to an automatic steering wheel angle offset compensation module (16) connected to said side controller. Figure to be published with the abstract: Fig. 1