Steering control device of autonomous vehicle, autonomous vehicle having the same and steering control method of autonomous vehicle

摘要

Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.

主权项

1. A steering control method of an autonomous vehicle, the method comprising:
receiving, using a sensor, a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle; computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius; generating a steering command corresponding to the calculated yaw rate; compensating for the steering command based on the first and second heading angles; and controlling the autonomous vehicle with the compensated steering command; wherein the step of generating a steering command comprises a step of generating a steering command corresponding to the calculated yaw rate based on a preset characteristic formula that has the form output=f(θ′), where θ′ is the calculated yaw rate and output is the steering command; wherein the characteristic formula comprises a polynomial expression and has a single independent variable and a single dependent variable that functionally relate to a value of the steering command and a value of the calculated yaw rate; and wherein the polynomial expression has at least one coefficient and the coefficient is calculated based on output yaw rates measured on a road surface with respect to additional steering commands.