Method for autonomously controlling a mobility of an apparatus

A control apparatus for autonomously controlling a movement of a motor vehicle that is adapted for driving on roads and that comprises at least one guiding wheel, the control apparatus comprising:

• at least one movement that is adapted to influence a trajectory of the control apparatus;
• an actuator for controlling the movement;
• and
• a computer for controlling the actuator, wherein the movement corresponds to an ability of each guiding wheel to turn, the computer configured to:
• acquire parameters (β, r, ΨL, eyL, δ, δref) relating to the trajectory of the vehicle;
• and
• compute a new control setpoint (δref) of the movement of the vehicle as a function of the parameters (β, r, ΨL, eyL, δ, δref) using a closed loop transfer function that models a behavior of the vehicle,
• wherein:
• the parameter (β) denotes a drift angle of the vehicle,
• the parameter (r) denotes a yaw rate of the vehicle,
• the parameter (ΨL) denotes a relative heading angle between a longitudinal axis along a direction of travel of the vehicle and a tangent line of an avoidance trajectory of the vehicle,
• the parameter (eyL) denotes a trajectory following error of the vehicle,
• the parameter (δ) denotes a measured turning angle, and
• the parameter (δref) denotes a saturated turning angle setpoint,
• wherein the closed loop transfer includes:
• a setpoint variation limiter model (T1) for a turning speed of the wheel with an unsaturated turning angle setpoint (δK) as input and the saturated turning angle setpoint (δref) as output,
• a model (T2) which represents a model of the vehicle with the saturated turning angle setpoint (δref) and disruptions as input and an output vector as output, and
• a state feedback law for calculating the unsaturated turning angle setpoint (δK) based on the output vector,
• wherein the controller is further configured to determine the new control setpoint (δref) in accordance with the setpoint variation limiter model (T1) that limits a variation of the saturated turning angle control setpoint (δref).