发明名称 |
METHOD FOR CONTROLLING A VEHICLE |
摘要 |
For steering a vehicle around obstacles, proceeding along a path from a starting position to an end position, the path including linear sub-paths which are defined by an increment &eegr; and a steering angle δ, a method includes: a) determining a maximum steering angle range and a maximum and a minimum increment range; b) determining the present distance eP from the end position, the target angle &thetas;O, and the angle difference e&thetas; between the present vehicle angle and the target angle; c) performing an optimization method for ascertaining a sub-path by minimizing the value of a cost function lO assigned to the sub-path; d) determining the new position by adding the ascertained sub-path to the present position; and e) repeating steps (b) through (d) until the end position is reached. |
申请公布号 |
EP3038881(A1) |
申请公布日期 |
2016.07.06 |
申请号 |
EP20140755625 |
申请日期 |
2014.08.14 |
申请人 |
ROBERT BOSCH GMBH |
发明人 |
BÖCK, MARTIN;KUGI, ANDREAS;ZIPS, PATRIK |
分类号 |
B62D15/02;B25J9/16;G05B19/4061;G05D1/02;G08G1/16 |
主分类号 |
B62D15/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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