A method for vehicle path tracking with error correction comprises steps of: acquiring vehicle instant information and a target path; developing a predictive path in accordance with the vehicle instant information; determining a vehicle yaw rate threshold value in accordance with the vehicle instant information; calculating a steering angle corresponding to the vehicle yaw rate threshold value; estimating a lateral error correction value corresponding to the steering angle; determining whether the lateral error correction value is not greater than an error value between the target path and the predictive path; controlling a vehicle to turn the steering angle corresponding to the lateral error correction value when the lateral error correction value is less than the error value; and controlling the vehicle to turn the steering angle corresponding to the error value when the lateral error correction value is greater than the error value.
Method and apparatus for vehicle path tracking with error correction
2017-02-14
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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