Adaptive path following algorithm for heavy vehicles
Adaptive path following algorithm for heavy vehicles
- Neue Suche nach: GAO YANGYAN
- Neue Suche nach: GORDON TIMOTHY
- Neue Suche nach: RAHMAN SHAMIM
- Neue Suche nach: HENDERSON LEON
- Neue Suche nach: GAO YANGYAN
- Neue Suche nach: GORDON TIMOTHY
- Neue Suche nach: RAHMAN SHAMIM
- Neue Suche nach: HENDERSON LEON
A method for controlling a heavy vehicle to follow a reference path (P), the method comprising: determining, from a vehicle position near the path, a target point along the reference path for use as a steering reference, where the distance of the target point measured along the path from a reference position associated with the vehicle position is a preview distance; determining a direction w1 of a first flow field associated with the reference path; determining whether a lateral deviation of the vehicle position relative to the reference path exceeds a threshold lateral deviation; and if the lateral deviation exceeds a threshold lateral deviation, controlling the vehicle according to a direction w1 of the first flow field, otherwise controlling the vehicle according to a direction wduct of the duct flow substantially parallel to the reference path or according to an optimization-based path (1302).
一种用于控制重型车辆跟随参考路径(P)的方法，所述方法包括：从路径附近的车辆位置确定沿着参考路径的目标点以用作转向参考，其中目标点沿着路径距与车辆位置相关联的参考位置测量的距离为预瞄距离；确定与所述参考路径相关联的第一流场的方向w1；确定所述车辆位置相对于所述参考路径的横向偏差是否超过阈值横向偏差；以及如果横向偏差超过阈值横向偏差，则根据第一流场的方向w1控制车辆，否则根据基本上平行于参考路径的管道流的方向w管道或根据基于优化的路径(1302)控制车辆。
Dokumentinformationen
Adaptive path following algorithm for heavy vehicles
用于重型车辆的自适应路径跟随算法
2023-12-29
Patent
Elektronische Ressource
Chinesisch
| IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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