Vehicle speed control procedure

摘要

In a procedure for manually controlling the speed of a vehicle, the input parameter is the difference between a speed setpoint and a measured speed. While a bend is being negotiated, a second speed setpoint is determined that depends on the curve, using curve radius, the trend of the curve and the angle of yaw. The two setpoints are compared and the smaller one is used. The curve radius and trend are determined from the speed differences between inner and outer wheels, using an active learning process. Speed in curves is set according to curve.