Control device for a motor vehicle, comprising controllers (3, 8) of the longitudinal and lateral movement of the vehicle that are able to generate command signals for actuators, so that the vehicle follows a planned route in an assisted-driving or automated-driving mode, the output from the lateral controller being based on minimizing the error between a desired angular yaw rate, obtained from the curvature of the road on the planned route, and a current angular yaw rate of the vehicle, estimated by a model of the dynamic behaviour of the vehicle on the basis of the measured longitudinal speed and the measured steering angle, said device comprising a module (11) able dynamically to correct parameters of the model in the event of a shift with the actual dynamic behaviour of the vehicle, as a function of a comparison between the estimated value and a measured value of the angular yaw rate.


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    Title :

    DISPOSITIF DE CONTRÔLE D'UN VÉHICULE AUTOMOBILE À CONDUITE AUTONOME


    Additional title:

    CONTROL DEVICE FOR A SELF-DRIVING MOTOR VEHICLE
    STEUERVORRICHTUNG FÜR EIN SELBSTFAHRENDES KRAFTFAHRZEUG



    Publication date :

    2025-01-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    French


    Classification :

    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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