| 摘要 |
With a view to controlling the trajectory of a vehicle (1), the device comprises inputs (43, 44) for receiving a quantity representative of deviations (PsiL, yL) between a reference trajectory and an actual trajectory of the vehicle, and an output (46) for producing in real time a deflection setpoint (deltar*) applicable to the rear wheels of the vehicle (1) so as to keep the vehicle on and/or return it to its reference trajectory. The device is noteworthy in that it comprises a module (50) for real-time formulation of the deflection setpoint (deltar*) varying linearly with respect to each deviation (PsiL, yL) received with a proportionality coefficient (kPsi, ky) quantified off-line so as to optimize the manner of varying the deflection setpoint (deltar*), and a supervision module (48) parameterized off-line for activating the formulation module (50) when the supervision module (48) detects in real time a calculated risk of overstepping of threshold by a deviation (PsiL, yL). |
