A method includes at least the following phases: a first phase wherein a path to be followed is generated, the path being subdivided into a series of sections of which the starting point forms an intermediate position; a second phase wherein, at the current intermediate position of the vehicle: a non-zero curvature is defined for each of the next n prediction horizon sections, the curvature varying progressively from one section to the next; a prediction is made, before the vehicle engages a movement, as to whether the path can be followed to the prediction horizon, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; a third phase wherein, if the path can be followed, the steering lock angle of the front wheels and the linear traction speed of the vehicle are controlled as a function of the state of the vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of the rear wheels on the path; if the path cannot be followed, the vehicle is realigned towards the target position and a new reference path is generated according to the first phase.
PROCÉDÉ DE CONDUITE AUTOMATIQUE SOUS CONTRAINTE D'UN VEHICULE, NOTAMMENT D'UN BUS DANS UN CENTRE DE REMISAGE, ET DISPOSITIF METTANT EN OEUVRE UN TEL PROCÉDÉ
METHOD FOR AUTOMATICALLY DRIVING A VEHICLE UNDER CONSTRAINT, IN PARTICULAR A BUS IN A STORAGE FACILITY, AND DEVICE IMPLEMENTING SUCH A METHOD
VERFAHREN ZUR AUTOMATISCHEN STEUERUNG EINES FAHRZEUGS UNTER EINSCHRÄNKUNG, INSBESONDERE EINES BUSSES IN EINER LAGEREINRICHTUNG, UND VORRICHTUNG ZUR UMSETZUNG EINES SOLCHEN VERFAHRENS
25.05.2022
Patent
Elektronische Ressource
Französisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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