STEERING CONTROL DEVICE OF AUTONOMOUS VEHICLE, AUTONOMOUS VEHICLE HAVING THE SAME AND STEERING CONTROL METHOD OF AUTONOMOUS VEHICLE

摘要

PURPOSE: A steering control device of the autonomic mobile unit, an autonomic mobile car including the same and a steering control method of the autonomic mobile car are provided to generate a steering command in real time through a small data processing. CONSTITUTION: A steering control method of the autonomic mobile car comprises the following steps. The first heading angle of the autonomic mobile car about the location of the autonomic mobile unit and north are received(S100). The second heading angle of the autonomic mobile unit facing the following way point based on the location of the autonomic mobile unit is produced. The radius of rotation of the autonomic mobile unit about the following way point is computed(S200). The yaw rate which follows the radius of rotation using the calculated radius of rotation and the speed of the autonomic mobile unit is calculated. The steering command corresponding to the calculated yaw rate is generated(S300). The steering command is compensated using the first and second heading angles(S400).