초록 ▼

A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle\s position, the desired path, and a lookahead distance. The loo

A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle\s position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.

대표청구항 ▼

A system for use with an autonomous vehicle for enabling the vehicle to track a desired vehicle path, the system comprising: means for providing the desired vehicle path to the vehicle; means for executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; means

A system for use with an autonomous vehicle for enabling the vehicle to track a desired vehicle path, the system comprising: means for providing the desired vehicle path to the vehicle; means for executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; means for determining an actual vehicle position; means for determining an error between said actual vehicle position and the desired vehicle path; and means for reducing said error between said actual vehicle position and the desired vehicle path including means for planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is a quintic polynomial based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and means for compensating for vehicle response characteristics of the vehicle using feedback compensation to cause the vehicle to follow said continuous path.