Device and method for steering vehicle
AssigneeIndustrial Technology Research Institute
InventorsJheng-Rong Wu, Chiung-Hung Chen, Hong-Xian Tsai, Pei-Jung Liang
Life of this patent
Estimating the term…
Abstract
A device and a method for steering a vehicle are provided. The method includes following steps: obtaining a point cloud data of a vehicle through a lidar, obtaining an RGB image of the vehicle through a camera, and obtaining a current speed of the vehicle through a wheel speed sensor; using the current speed and local path way points associated with the point cloud data to obtain a target angle; using the current speed and a central lane distance error associated with the RGB image to obtain a compensator angle; and using the target angle and the compensator angle to obtain a steering command, and steering the vehicle to drive in a lane according to the steering command.
Claims18
A device for steering a vehicle, comprising:
- a LiDAR;
- a camera;
- a wheel speed sensor;
- and
- a processor, coupled to the LiDAR, the camera, and the wheel speed sensor, wherein
- the processor obtains a point cloud data of the vehicle through the LiDAR, obtains an RGB image of the vehicle through the camera, and obtains a current speed of the vehicle through the wheel speed sensor,
- the processor uses the current speed and local path way points associated with the point cloud data to obtain a target angle,
- the processor uses the current speed and a central lane distance error associated with the RGB image to obtain a compensator angle,
- the processor uses the target angle and the compensator angle to obtain a steering command of the vehicle, and steers the vehicle to drive in a lane according to the steering command, wherein
- the processor performs a compensator angle calculation operation on the current speed and the central lane distance error to obtain the compensator angle, wherein the compensator angle calculation operation comprises proportional integral derivative control (PID control).
A method for steering a vehicle, adapted to a device comprising a LiDAR, a camera, and a wheel speed sensor, and the method for steering the vehicle comprising:
- obtaining a point cloud data of the vehicle through the LiDAR, obtaining an RGB image of the vehicle through the camera, and obtaining a current speed of the vehicle through the wheel speed sensor;
- using the current speed and local path way points associated with the point cloud data to obtain a target angle;
- using the current speed and a central lane distance error associated with the RGB image to obtain a compensator angle;
- and
- using the target angle and the compensator angle to obtain a steering command of the vehicle, and steering the vehicle to drive in a lane according to the steering command,
- wherein using the current speed and the central lane distance error associated with the RGB image to obtain the compensator angle comprises:
- performing a compensator angle calculation operation on the current speed and the central lane distance error to obtain the compensator angle, wherein the compensator angle calculation operation comprises proportional integral derivative control (PID control).
Dependencies are inferred from the claim text.