무엇보다도, 조향각 캘리브레이션을 위한 기술이 설명되어 있다. 자율주행 차량은 조향각 측정치 및 요 레이트 측정치를 수신하고, 조향각 측정치, 요 레이트 측정치, 및 자율주행 차량의 휠베이스를 사용하여 조향각 오프셋을 추정한다. 추정된 요 레이트는 요 레이트 모델, 조향각 측정치 및 추정된 조향각 오프셋에 기초하여 결정된다. 요 레이트 측정치와 추정된 요 레이트가 비교되고, 비교에 응답하여 자율주행 차량에 대한 액션이 개시된다.

    Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.


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    Titel :

    STEERING ANGLE CALIBRATION


    Weitere Titelangaben:

    조향각 캘리브레이션


    Beteiligte:

    Erscheinungsdatum :

    2023-03-13


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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