METHOD AND SYSTEM FOR TRACKING ROUTE OF AUTONOMOUS VEHICLE

摘要

PROBLEM TO BE SOLVED: To obtain superior position specifying capability by planning a continuous course from an actual position to a desired vehicle course with a quintic polynomial based upon an actual vehicle position, the desired vehicle course, and a front distance and making a vehicle follow up a continuous route. SOLUTION: A steering control function block 4306 sends an instruction to a valve to control the steering angle of the wheels of the vehicle. A navigator always monitors the vehicle 102 so as to determine how far the vehicle 102 is away from the desired course. The vehicle 102 always deviates from the desired course to some extent and the system corrects it at any time. The steering angle is represented as off-course Φ steering = f(C(desired)+C(error)). A quintic method used to calculate the C(error) is the quintic polynomial in an error space limiting a smooth course for a return to desired course. The degree of the polynomial is limited by necessary data, i.e., C(error) and known end restrictions.