Systems and techniques are used to determine a sideslip vector of a vehicle, which may have a different direction than a heading vector of the vehicle. The sideslip vector in the current vehicle state and the sideslip vector in the predicted vehicle state may be used to determine a path for the vehicle to pass through the environment and to control a trajectory for the vehicle to pass through the environment. The sideslip vector may be based on a vehicle position that is a center point of a wheelbase of the vehicle, and may include lateral velocity, facilitating control of the four-wheel steered vehicle while maintaining the ability to control the two-wheel steered vehicle.
系统和技术用于确定车辆的侧滑矢量,所述侧滑矢量可以具有与所述车辆的航向矢量不同的方向。当前车辆状态下的侧滑矢量和预测车辆状态下的侧滑矢量可以用于确定车辆通过环境的路径和用于控制车辆通过环境的轨迹。侧滑矢量可以基于车辆位置,所述车辆位置是车辆的轴距的中心点,并且可以包括横向速度,促进对四轮转向车辆的控制,同时保持控制两轮转向车辆的能力。
Determining vehicle position using sideslip vectors
使用侧滑矢量确定车辆位置
06.05.2025
Patent
Elektronische Ressource
Chinesisch
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 |