A mobile machine including a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine, generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, generate a current machine velocity using a prescribed machine velocity, the reference heading error, and the distance heading error, and generate control signals for driving the machine by combining the first set of control values, the second set of control values, and the current machine velocity.
Steering controller for an autonomous vehicle with velocity regulation
2021-09-14
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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