A processor-implemented method in a vehicle for performing automatic vehicle lateral control using a neural network for trajectory tracking is provided. The method includes receiving a desired vehicle trajectory; constructing, from the desired trajectory, desired waypoint data for a small number of desired waypoints at different look ahead distances in front of the center of gravity of the vehicle; and generating a steering angle command using a feedforward artificial neural network (ANN) as a function of vehicle speed and the desired waypoint data without modeling vehicle or tire dynamics. The vehicle steering actuator system provides steering control to cause vehicle steering to attempt to achieve the steering angle command.


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    Title :

    TRAJECTORY TRACKING FOR VEHICLE LATERAL CONTROL USING NEURAL NETWORK


    Contributors:

    Publication date :

    2019-08-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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