An autonomous vehicle (101) lateral motion control system comprising: a trajectory planner (102); and a trajectory controller (104) generating a steering control signal for controlling the lateral motion of the vehicle. The trajectory controller comprises a control circuit (104a) comprising an integrated neural network adaptive PID controller (124) which comprises: a PID controller (116) which receives a target lane position and is arranged to minimize an error value indicative of the difference between the actual trajectory of the vehicle and the target lane position dependent input signal, the PID controller being further arranged to receive a target course angle and is arranged to minimize an error value indicative of the difference between the actual trajectory of the vehicle and the target course angle dependent input signal; and a neural network (118) configured to determine the P gain, I gain and the D gain terms used by the PID controller. The integrated neural network adaptive PID controller is configured to use the P and I gain terms provided by the neural network to control the lane position of the vehicle, and the D gain term provided by the neural network to control the course angle of the vehicle.
Autonomous automotive vehicle lateral motion control system
2023-07-26
Patent
Electronic Resource
English
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