A method includes at least the following phases: a first phase wherein a path to be followed is generated, the path being subdivided into a series of sections of which the starting point forms an intermediate position; a second phase wherein, at the current intermediate position of the vehicle: a non-zero curvature is defined for each of the next n prediction horizon sections, the curvature varying progressively from one section to the next; a prediction is made, before the vehicle engages a movement, as to whether the path can be followed to the prediction horizon, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; a third phase wherein, if the path can be followed, the steering lock angle of the front wheels and the linear traction speed of the vehicle are controlled as a function of the state of the vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of the rear wheels on the path; if the path cannot be followed, the vehicle is realigned towards the target position and a new reference path is generated according to the first phase.


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    Title :

    PROCÉDÉ DE CONDUITE AUTOMATIQUE SOUS CONTRAINTE D'UN VEHICULE, NOTAMMENT D'UN BUS DANS UN CENTRE DE REMISAGE, ET DISPOSITIF METTANT EN OEUVRE UN TEL PROCÉDÉ


    Additional title:

    METHOD FOR AUTOMATICALLY DRIVING A VEHICLE UNDER CONSTRAINT, IN PARTICULAR A BUS IN A STORAGE FACILITY, AND DEVICE IMPLEMENTING SUCH A METHOD
    VERFAHREN ZUR AUTOMATISCHEN STEUERUNG EINES FAHRZEUGS UNTER EINSCHRÄNKUNG, INSBESONDERE EINES BUSSES IN EINER LAGEREINRICHTUNG, UND VORRICHTUNG ZUR UMSETZUNG EINES SOLCHEN VERFAHRENS


    Contributors:

    Publication date :

    2022-05-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    French


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge







    PROCÉDÉ DE SUIVI AUTOMATIQUE D'UN VÉHICULE ET DISPOSITIF DE CONDUITE AUTONOME

    LAINE VINCENT / FERON STEPHANE / TACCORI DUVERGEY CELINE | European Patent Office | 2021

    Free access