The present invention relates to a method of partially or fully autonomous driving (S100) of a vehicle (1). The method comprises the following steps of: setting a target steering angle to drive along a target trajectory (S); examining a drift is in between a current location of the vehicle (1) and the target trajectory (S); and if the determined drift exceeds a predetermined criterion, adjusting the set target steering angle by using a correction factor. The method prevents a location error in a transverse direction when the vehicle drives along the target trajectory.
본 발명은 차량(1)의 부분 자율 주행 또는 완전 자율 주행을 위한 방법(S100)으로서, 목표 궤적(S)을 따라 주행하도록 목표 조향각이 설정되고, 드리프트가 상기 차량(1)의 현재 위치와 상기 목표 궤적(S) 사이에 있는지 검토되고, 결정된 드리프트가 지정된 임계값을 초과한다면 상기 설정된 목표 조향각이 보정 상수를 이용하여 조정되는 방법에 관한 것이다.
METHOD FOR PARTIALLY OR FULLY AUTONOMOUSLY GUIDING A MOTOR VEHICLE
차량의 부분 자율 주행 또는 완전 자율 주행 방법
2021-12-08
Patent
Electronic Resource
Korean
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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