发明名称 |
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. |
申请公布号 |
WO2011142508(A1) |
申请公布日期 |
2011.11.17 |
申请号 |
WO2010KR06593 |
申请日期 |
2010.09.28 |
申请人 |
AGENCY FOR DEFENSE DEVELOPMENT;CHOE, TOK SON;PARK, YONG WOON;CHAE, JEONG SOOK |
发明人 |
CHOE, TOK SON;PARK, YONG WOON;CHAE, JEONG SOOK |
分类号 |
B62D6/00;B60W10/20 |
主分类号 |
B62D6/00 |
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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