In order to allow a vehicle (1) to comfortably keep to a lane, in particular but not necessarily a lane comprising bends having high radii of curvature, the device for controlling the path of the vehicle (1) comprises an observation module (2) that generates, in real time from a current measurement vector (η), an estimated vector of the lane-keeping state (ζ) of the vehicle (1) moving at a current speed (va), so as to produce a first steering control (ust) in order to stabilise the path of the vehicle relative to the lane. The device further comprises an anticipation module (7) that adds, to the first steering control (ust), a second steering control (uff) that depends on a radius of curvature (ρff) to be applied to the path.
DISPOSITIF DE CONTRÔLE DE TRAJECTOIRE D'UN VÉHICULE
DEVICE FOR CONTROLLING THE PATH OF A VEHICLE
VORRICHTUNG ZUR STEUERUNG DES WEGES EINES FAHRZEUGS
2020-07-01
Patent
Electronic Resource
French
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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