APPARATUS AND METHOD FOR CONTROLLING A VEHICLE

摘要

A path controller for guiding an autonomous vehicle along a desired path may include an input module that may receive input signals such as, a normal error signal that indicates an off-path deviation of the autonomous vehicle relative to a desired path, a heading signal, and a curvature signal associated with the autonomous vehicle. The path controller may also include a curvature rate module that calculates a curvature rate output signal to guide the autonomous vehicle along the desired path and a communication module that communicates the curvature rate output signal to a steering control system.

主权项

1. A path controller configured to guide an autonomous vehicle along a desired path, the path controller comprising:
an input module configured to receive input signals at the path controller comprising:
a normal error signal associated with the autonomous vehicle, the normal error signal indicating an off-path deviation of the autonomous vehicle relative to a desired path;a heading signal associated with the autonomous vehicle, the heading signal indicating a current heading angle of the autonomous vehicle; anda curvature signal associated with the autonomous vehicle, the curvature signal indicating a curvature associated with a current turn radius of the autonomous vehicle; a curvature rate module configured to calculate a curvature rate output signal based on the input signals received at the path controller, the curvature rate output signal configured to guide the autonomous vehicle along the desired path; and a communication module configured to communicate the curvature rate output signal to a steering control system that is configured to receive the curvature rate output signal and actuate a steering system associated with the autonomous vehicle based on the curvature rate output signal received from the path controller.