An autonomous vehicle (101) lateral motion control system (100), comprising: a trajectory planner (102) configured to generate a target trajectory for the vehicle); and a trajectory controller (104) configured to receive the target trajectory from the trajectory planner and generate as an output a steering control signal for controlling the lateral motion of the vehicle. The trajectory controller comprises a control circuit (104a), the control circuit comprising one or more neural network adaptive controllers (110, 112, 114). Each neural network adaptive controller comprises: a feedback loop controller (116) which receives an input signal dependent on a parameter of the target trajectory and which is configured to minimize an error value indicative of the difference between the actual trajectory of the vehicle and the input signal based on one or more of a P gain, I gain and D gain term; and a neural network (118) configured to determine one or more of the P gain, I gain and the D gain terms used by the feedback loop controller.


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    Title :

    Autonomous automotive vehicle lateral motion control system


    Publication date :

    2023-07-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English



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