A system is provided for autonomous steering calibration for a vehicle, such as an autonomous machine like an off-highway haul truck or a motor grader. The system includes a sensor generating a signal indicating an operational characteristic of the vehicle, an actuator coupled to vehicle steering which communicates feedback from the steering, and one or more control circuits, such as GPS, anti-lock brakes or electronic brakeforce distribution, for controlling a different operational characteristic of the vehicle. A controller detects a position of the vehicle on a calibration surface based on the signal from the sensor (step 202) and receives feedback from the actuator (step 204) while the control circuits are disabled. The controller also drives the vehicle to read data (step 206) and calculates a calibration value based on one or more of the feedback and the read data (step 208), optimally to reach a steady state. The system may use a pure pursuit algorithm. Also provided is a vehicle and a calibration method 200.
System and method for autonomous steering calibration
2021-11-03
Patent
Electronic Resource
English
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