Method for guiding center lane of motor car, involves providing driving dynamic model for transverse control with state variables e.g. course angle mistake and transverse deviation, which are set as measured variable for state return

摘要

The method involves providing a driving dynamic model for transverse control with state variables e.g. course angle mistake (theta), transverse deviation (y), steering angle (delta L) and yaw rate (psi), which are set as a measured variable for a state return. The steering angle is controlled under consideration of a current vehicle velocity (v) and a track curvature (rho). Variable disturbance estimations are provided as an input of a steering angle controller, where the estimations represent a lasting transverse deviation as an input trouble at a target angle (theta R).