Method for controlling the path of an autonomous vehicle having steered wheels

摘要

A method for controlling the position and speed of a vehicle having steered wheels includes, determining an overall path comprising a plurality of points and defining the course of the vehicle between a starting point and an endpoint; determining the current position of the vehicle; if the current position does not correspond to a point on the overall path, generating a local path connecting the current position of the vehicle to a point on the overall path; and generating control signals in order to steer the steered wheels and control the speed of the vehicle so that the vehicle moves along the local path. The control signals are generated by convex optimization of linear matrix inequalities.

主权项

1. A method for controlling a position and speed of a vehicle capable of moving in an autonomous manner and having at least one steered wheel, said method comprising:
determining an overall path defining a course of the vehicle between a starting point and an endpoint, said overall path having a plurality of intermediate points between the starting point and the endpoint; defining a position being defined for each point of the overall path; determining a current position of the vehicle; generating, if the current position does not correspond to a point on the overall path, a local path connecting the current position of the vehicle to a point on the overall path, said local path having a plurality of points, a position and a speed defined for each point of the local path; controlling, via a steering control signal generated via circuitry, the steered wheel of the vehicle and controlling, via a speed control signal generated via the circuitry, the speed of the vehicle so that the vehicle moves along said local path, wherein the steering and speed control signals are generated by convex optimization of linear matrix inequalities.