A method for controlling a heavy-duty vehicle to follow a reference path (P), comprising determining a goal point along the reference path to be used as a steering reference from a vehicle location in vicinity of the path, where the goal point is distanced along the path by a preview distance measured from a reference location associated with the vehicle location, determining a direction w1 of a first flow field associated with the reference path, determining whether a lateral deviation of the vehicle location from the reference path exceeds a threshold lateral deviation, and controlling the vehicle in accordance with the direction w1 of a first flow field if the lateral deviation exceeds the threshold lateral deviation, and otherwise controlling the vehicle in accordance with the direction wpipe of a pipe flow substantially parallel to the reference path or in accordance with an optimization-based path.
ADAPTIVE PATH FOLLOWING ALGORITHM FOR HEAVY-DUTY VEHICLES
2024-07-11
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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