A control device for a motor vehicle comprises a longitudinal and lateral motion controller (3, 8) of the vehicle, both controllers being able to generate command signals for the actuators such that the vehicle follows a planned route in either an aided driving mode or an automated driving mode, the output of the lateral controller is based on a minimization of an error between a desired yaw velocity obtained from a road curvature on the planned route and a current yaw velocity of the vehicle estimated by a dynamic behavioral model of the vehicle based on a measured longitudinal velocity and a measured steering angle, said apparatus comprising a module (11), the module is capable of dynamically correcting a parameter of the model based on a comparison between the estimated yaw velocity value and the measured yaw velocity value in the event of a deviation between the model and an actual dynamic behavior of the vehicle.
一种用于机动车辆的控制设备包括该车辆的纵向运动控制器和侧向运动控制器(3,8),这两个控制器能够生成用于致动器的命令信号,使得该车辆在辅助驾驶模式或自动驾驶模式下遵循规划路线,该侧向控制器的输出是基于对从该规划路线上的道路曲率获得的期望横摆角速度与通过该车辆的动态行为模型基于测得的纵向速度和测得的转向角度估计出的该车辆的当前横摆角速度之间的误差的最小化,所述设备包括模块(11),该模块能够在该模型与该车辆的实际动态行为之间存在偏差的情况下,根据该估计出的横摆角速度值与该测得的横摆角速度值之间的比较来动态校正该模型的参数。
CONTROL DEVICE FOR AUTONOMOUS DRIVING MOTOR VEHICLE
用于自动驾驶机动车辆的控制设备
2022-05-10
Patent
Electronic Resource
Chinese
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 |
Steering angle control device for autonomous driving motor vehicle
European Patent Office | 2022
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