System and method for causing an autonomous vehicle to track a path

摘要

A system and method for causing an autonomous vehicle to track a desired path uses reference postures to define the desired path. Actual vehicle postures are determined using sensors aboard the autonomous vehicle. An expected vehicle posture at the end of a next time interval is determined on the actual vehicle posture. A desired vehicle posture at the end of the next time interval is determined based on the reference postures. A steering angle for the next time interval for the autonomous vehicle is determined based on the difference between the reference posture and the desired vehicle posture at the end of the next time interval.