A device for controlling, in real time, the trajectory of an autonomous vehicle includes a control module which produces, in real time, from a state vector at each point in time, a first steering command in order to stabilize the trajectory of the vehicle relative to a vehicle path. The device includes an anticipation module which generates a variable representative of a meta-vector of deviations for each predicted position of the vehicle at points in time resulting in a given quantity at the current point in time and of the state vector at the current point in time. The control module produces the first steering command by quadratic optimization of a relationship between the generated representative variable and a meta-vector of successive steering commands for each predicted position of the vehicle at points in time resulting in a given quantity at the current point in time.
DISPOSITIF DE CONTROLE DE TRAJECTOIRE D'UN VEHICULE
DEVICE FOR CONTROLLING THE TRAJECTORY OF A VEHICLE
VORRICHTUNG ZUR STEUERUNG DES KURSES EINES FAHRZEUGS
2022-08-24
Patent
Electronic Resource
French
DISPOSITIF ET PROCÉDÉ DE CONTRÔLE DE TRAJECTOIRE D'UN VÉHICULE
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