Control method for controlling movement of autonomous motor vehicle

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Control method for controlling movement of autonomous motor vehicle

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ATOUI HASSAN / MARTINEZ JEAN-JACQUES / MILANESE VITTORIO / SENAM OMER

The invention relates to a control method for controlling a movement of an autonomous motor vehicle (10) along a reference trajectory (T). The control method comprises a step (E5) of determining a desired yaw speed (Wdes) as a function of the reference distance (L) and a step (E6) of determining a yaw error. The reference distance (L) is selected in such a way that the yaw error is less than or equal to a predetermined yaw error threshold value (S1).

本发明涉及一种用于控制自主机动车辆(10)沿参考轨迹(T)移动的控制方法。该控制方法包括确定作为参考距离(L)的函数的期望偏航速度(Wdes)的步骤(E5)以及确定偏航误差的步骤(E6)。参考距离(L)以该偏航误差小于或等于预定的偏航误差阈值(S1)的方式被选择。

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Title :

Control method for controlling movement of autonomous motor vehicle

Additional title:

用于控制自主机动车辆移动的控制方法

Contributors:

ATOUI HASSAN (author) / MARTINEZ JEAN-JACQUES (author) / MILANESE VITTORIO (author) / SENAM OMER (author)

Publication date :

2023-09-12

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

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