DEVICE FOR CONTROLLING THE TRAJECTORY OF A VEHICLE

By | September 8, 2018

The device for controlling, in real time, the trajectory of an autonomous vehicle (1) comprises a control module (13) which produces, in real time, from an actual or estimated state vector (I) at each point in time k for following a path by the vehicle (1) moving at a current speed (v), a first steering command (uk) in order to stabilise the trajectory of the vehicle relative to said path. The device comprises an anticipation module (19) which generates a variable (A) representative of a meta-vector (Γk) of deviations for each predicted position of the vehicle (1) at points in time resulting in a given quantity (N) at the current point in time (k) and of the state vector (I) at the current point in time (k). The control module (13) produces the first steering command (uk) by means of the quadratic optimisation of a relationship between the generated representative variable (h) and a meta-vector (Uk) of successive steering commands for each predicted position of the vehicle (1) at points in time resulting in a given quantity (N) at the current point in time (k).

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