An autonomous vehicle and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbance force or yaw moment is received on the autonomous vehicle. The sensor measures a position of the autonomous vehicle within a lane of a road with respect to road boundaries and lane markings. The processor is configured to resist an effect of a disturbance force or yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle, establishes a final track lane at a closer of a lateral position of the inflection point and a lane center to the initial track lane, and tracks the path to the final track lane.
Monotonic path tracking control for lane keeping and lane following
2024-05-21
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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