System and method for vehicle steering control

摘要

A method for steering control of a vehicle having an actuator which turns steered wheels of the vehicle. The steering control method includes obtaining a location of a target point at a look-ahead distance away from the vehicle based on a maneuver the vehicle is performing, predicting a forward location of the vehicle at the look-ahead distance away from the vehicle, determining a distance between the location of the target point and the forward location, computing a normalized error by dividing the distance with the look-ahead distance, and determining a steering control command based on an integration of the normalized error. The actuator then turns the steered wheels of the vehicle according to the steering control command so as to steer the vehicle to perform various maneuvers.

主权项

1. A method for steering control of a vehicle having an actuator which turns steered wheels of the vehicle, comprising:
obtaining a location of a target point at a look-ahead distance away from the vehicle; predicting a forward location of the vehicle, wherein the forward location is at the look-ahead distance away from the vehicle; determining an error as a distance between the location of the target point and the forward location; computing a normalized error by dividing the error with the look-ahead distance; determining a steering control command based on an integration of the normalized error; and outputting the steering control command to the actuator, wherein the actuator turns the steered wheels according to the steering control command so as to steer the vehicle to perform various maneuvers.