A vehicle, typically an autonomous or semi-autonomous vehicle, is configured to determine estimated steering velocities for a steering system as a function of respective steering angles and time steps and a path for the vehicle to travel is determined based on the estimated steering velocities. The steering velocities may be estimated based on an actuator force output curve determined as a function of steering rack load, which may in turn be determined from tie rod loads at various speeds. The rates at which the vehicle changes travel direction may vary with vehicle speed and may be determined experimentally. The system may be arranged to avoid detected traffic obstructions.
Steering capability prediction
2018-06-20
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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