ADAPTIVE CONTROL METHOD AND SYSTEM IN A TERRESTRIAL VEHICLE FOR TRACKING A ROUTE, PARTICULARLY IN AN AUTONOMOUS DRIVING SCENARIO

By | September 27, 2018

A method is described for the control of the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.

Read the original article

Leave a Reply

This site uses Akismet to reduce spam. Learn how your comment data is processed.