In one embodiment, an autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.
METHOD AND SYSTEM FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE
VERFAHREN UND SYSTEM ZUR LENKUNGSSTEUERUNG EINES AUTONOMEN FAHRZEUGES
PROCÉDÉ ET SYSTÈME POUR LA COMMANDE DE DIRECTION D'UN VÉHICULE AUTONOME
2021-05-05
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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