| 摘要 |
For steering a vehicle around obstacles, proceeding along a path from a starting position to an end position, the path including linear sub-paths which are defined by an increment η and a steering angle δ, a method includes: a) determining a maximum steering angle range and a maximum and a minimum increment range; b) determining the present distance eP from the end position, the target angle θO, and the angle difference eθ between the present vehicle angle and the target angle; c) performing an optimization method for ascertaining a sub-path by minimizing the value of a cost function lO assigned to the sub-path; d) determining the new position by adding the ascertained sub-path to the present position; and e) repeating steps (b) through (d) until the end position is reached. |
