Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.
STEERING ANGLE CALIBRATION
02.07.2020
Patent
Elektronische Ressource
Englisch