A method of controlling a vehicle 90 including: a first controller 110, a second controller 120 and a third controller 124 in communication with a sub-system 130. The first controller receives an identifier and a current value of a state of motion from a second controller whereby the first controller determines a target value of the state of motion to be achieved by the sub-system. The first controller transmits to the third controller the identifier and a command for the sub-system to achieve the target value of the state of motion. The third controller then commands the sub-system to approach the subset of the target value of the state of motion. The subsystem may be a braking, steering or propulsion system and may be part of an autonomous vehicle. First sensors 140 may include RADAR, LIDAR or velocity sensors whilst third sensors may include yaw rates, slip angles, lateral or longitudinal positions. Data may aslo be derived from V2V or V2I systems.
Vehicle odometry system
2018-04-18
Patent
Electronic Resource
English