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.


    Access

    Download


    Export, share and cite



    Title :

    Techniques for controlling autonomous 4WS vehicles


    Contributors:

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / G01S RADIO DIRECTION-FINDING , Funkpeilung



    TECHNIQUES FOR CONTROLLING AUTONOMOUS 4WS VEHICLES

    RANDS JOSHUA / CREABY JUSTIN / SIGHTS BRANDON | European Patent Office | 2024

    Free access

    Track selection for controlling autonomous vehicles

    AHMED SHERIF / O 'DEA KEVIN A / PORTER ADAM D et al. | European Patent Office | 2022

    Free access

    PLANNING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES

    VOZAR STEVEN / SUCAN IOAN-ALEXANDRU / DENNY JORY et al. | European Patent Office | 2024

    Free access

    PLANNING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES

    VOZAR STEVEN / SUCAN IOAN-ALEXANDRU / DENNY JORY et al. | European Patent Office | 2025

    Free access

    SELECTING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES

    AHMED SAMI / O'DEA KEVIN A / PORTER AUDREY D et al. | European Patent Office | 2022

    Free access