METHOD AND SYSTEM FOR PREDICTING A FUTURE POSITION OF A VEHICLE USING NUMERICAL INTEGRATION

摘要

A method and system for predicting a future position of a horizon time T_h of an automotive vehicle. The method determines the position of the vehicle at time T₀ using GPS and the speed, acceleration and angle of the steering wheel at time T₀ from appropriate sensors on the vehicle. A nonlinear mathematical model utilizing these factors is then created while the position of the vehicle at time T₀+T_h is determined through numerical integration of the mathematical model using an adjustable step size T_step. The step T_step is modified adaptively in accordance with the accuracy requirements of the vehicle.