| 主权项 |
1. A method for controlling the position and speed of a vehicle capable of moving in an autonomous manner and having at least one steered wheel, said method comprising the following steps:
determining (E1) an overall path defining the course of the vehicle between a starting point and an endpoint, said overall path comprising a plurality of intermediate points between the starting point and the endpoint, a position being defined for each point of the overall path; determining (E2) the current position of the vehicle; if the current position does not correspond to a point on the overall path, generating (E3) a local path connecting the current position of the vehicle to a point on the overall path, said local path comprising a plurality of points, a position and a speed being defined for each point of the local path; generating (E4) a steering control signal for the steered wheel and a speed control signal for the vehicle so that the vehicle moves along said local path; characterized in that the steering and speed control signals are generated by convex optimization of linear matrix inequalities. |
