The invention relates to a method for correcting the direction of travel of a motor vehicle, comprising a measurement step in which, from a vehicle-mounted camera, the lateral distance (YL) between the vehicle and a marking stripe on the ground is measured, a measurement step in which the relative heading angle (ΨL) corresponding to the angle between the longitudinal axis of the vehicle and a line on the traffic lane is measured, and a calculation step (10) in which a correction gain is calculated in accordance with the measured lateral distance and relative heading angle, and a control variable (u) that acts upon the steering angle of the front steered wheels is generated from the calculated correction gain. The correction gain calculation includes a multi-criterion optimization step in which the minimum value for each of the following criteria is ascertained during the correction of the direction of travel: the lateral movement in the traffic lane, the steering angle applied to the wheels, and the lateral speed of the vehicle.
DISPOSITIF ET PROCEDE DE CORRECTION DE TRAJECTOIRE D'UN VEHICULE AUTOMOBILE
DEVICE AND METHOD FOR CORRECTING THE DIRECTION OF TRAVEL OF A MOTOR VEHICLE
VORRICHTUNG UND VERFAHREN ZUR KORREKTUR DER FAHRTRICHTUNG EINES KRAFTFAHRZEUGS
2019-07-17
Patent
Electronic Resource
French
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