Method of controlling a vehicle travelling on a curved road, including: detecting a curvature of the curved road based on a local perception sensor system of the vehicle; calculating a vehicle target speed for travelling on the bend based on the detected curvature of the curved road; and determining whether to adjust the target vehicle speed based on a sensed lateral acceleration of the vehicle. The target speed may be reduced if the detected lateral acceleration is above a threshold. Decision whether to adjust target speed is performed iteratively until the radius of the curvature is below a threshold. Sensor data may be lane marking, road sign, or speed limit sign. The target speed may be a cruse control speed. Method may be performed only when satellite navigation or online road map is not available. Sensors may include camera, sonar, radar, lidar.
Method and system for controlling a vehicle for travelling on a curved road
14.12.2022
Patent
Elektronische Ressource
Englisch
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