A control system (130, 140) for autonomous drive of a heavy-duty vehicle (100), comprising an autonomous drive, AD, controller (270) configured with a trajectory tracking function (271) arranged to track a desired vehicle trajectory, and a first vehicle model (272) arranged to model a response by the vehicle (100) to a requested steering angle, where the AD controller (270) is arranged to generate a steering angle request (275) based on the desired vehicle trajectory and on the first vehicle model (272), the control system (130, 140) further comprising a vehicle motion management, VMM, function (260) arranged to receive the steering angle request (272) from the AD controller (270), where the VMM function (260) comprises a second vehicle model (261) configured to be aligned with the first vehicle model (272), where the VMM function (260) is arranged to obtain a desired vehicle behavior based on a response of the second vehicle model (261) to the steering angle request (275), where the VMM function (260) is arranged to determine motion support device control set points (265) in dependence of the desired vehicle behavior.
VEHICLE CONTROL FOR SIMPLIFIED AUTONOMOUS DRIVE
FAHRZEUGSTEUERUNG FÜR VEREINFACHTEN AUTONOMEN ANTRIEB
COMMANDE DE VÉHICULE POUR CONDUITE AUTONOME SIMPLIFIÉE
2024-07-10
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
VEHICLE AUTONOMOUS DRIVE CONTROLLER AND VEHICLE AUTONOMOUS DRIVE CONTROL METHOD
Europäisches Patentamt | 2016
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