Disclosed are a method and apparatus for determining the heading of a 4WS vehicle. The 4WS vehicle's dynamic pivot point is calculated from the steering angles. A distance between the dynamic pivot point and a Global Navigation Satellite System (GNSS) antenna is determined. A time delay is determined in the form of the distance between the GNSS antenna and the pivot point divided by the current vehicle horizontal velocity. The time delay is multiplied by a vehicle yaw rate to obtain a result which is added to a GNSS antenna heading to give a true heading. A control point for the 4WS vehicle is selected to allow that control point to follow a desired trajectory.
Techniques for controlling autonomous 4WS vehicles
2025-05-13
Patent
Electronic Resource
English
PLANNING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES
European Patent Office | 2024
|PLANNING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES
European Patent Office | 2025
|SELECTING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES
European Patent Office | 2022
|