An autonomous vehicle, and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbing force or yaw moment is received on an autonomous vehicle. A sensor measures a position of an autonomous vehicle within a road lane relative to a road boundary and a lane marker. The processor is configured to resist effects of a disturbing force or a yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial tracking lane in which an inflection point is generated in the path of the autonomous vehicle against the impact, establishes a final tracking lane closer to the initial tracking lane in a lateral position of the inflection point and a lane center, and causes the path to track the final tracking lane.
一种自主车辆以及用于操作该自主车辆的系统和方法。该系统包括传感器和处理器。在自主车辆上接收扰动力或偏航力矩。传感器测量自主车辆在道路车道内相对于道路边界和车道标记的位置。处理器被配置成抵抗在自主车辆上接收的扰动力或偏航力矩的影响。所述处理器最小化自主车辆的路径和初始跟踪车道之间的跟踪误差,其中抵抗所述影响在自主车辆的路径中产生拐点,在拐点的横向位置和车道中心中更靠近初始跟踪车道处建立最终跟踪车道,并且使路径跟踪最终跟踪车道。
Monotonic path tracking control for lane keeping and lane tracking
车道保持和车道跟踪的单调路径跟踪控制
2022-05-13
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 |
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