Methods and system for vehicle control. The methods and systems determining actuator commands data based on a vehicle stability and motion control function. The vehicle stability and motion control function having planned trajectory data, current vehicle position data and current vehicle heading data as inputs, having the actuator commands data as an output and utilizing a model predicting vehicle motion including predicting vehicle heading data and predicting vehicle position data. The actuator commands data includes steering and propulsion commands. The actuator commands data includes differential braking commands for each brake of the vehicle to correct for any differential between the planned vehicle heading and the current vehicle heading data or the predicted vehicle heading data. The methods and systems output the actuator commands data to the actuator system.
VEHICLE CONTROL SYSTEMS AND METHODS
2022-04-21
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |