A method for performing autonomous operation of a vehicle is provided. The method identifies, by at least one processor, an error condition of an electric power steering (EPS) device onboard the vehicle; obtains, by the at least one processor, input trajectory data for the autonomous operation of the vehicle; calculates, by the at least one processor, a feedforward rear steer angle, based on the input trajectory data; calculates, by the at least one processor, a feedback signal of the feedforward rear steer angle; calculates, by the at least one processor, a final steer angle command, using the feedforward rear steer angle and the feedback signal; and operates a steering mechanism of the vehicle using the final steer angle command, to autonomously maneuver the vehicle according to the final steer angle command.


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    Titel :

    Methods and apparatus for robust trajectory control of an autonomous vehicle


    Beteiligte:
    GUPTA PINAKI (Autor:in) / LEE JIN-WOO (Autor:in)

    Erscheinungsdatum :

    2019-02-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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