US 12,709,329 B1 · Lateral controller for autonomous low-g maneuvering using front and rear steering

Abstract

A system for operating an autonomous vehicle determines a desired path of the autonomous vehicle in a turn, calculates a current trajectory for the vehicle in the turn based on at least a front road wheel angle of a front wheel of the vehicle and a rear road wheel angle of a rear wheel of the vehicle, determines a cross-track error between the desired path and the current trajectory, determines a heading error between the desired path and the current trajectory, creates a tracking cost function based on the cross-track error and the heading error, performs an optimization operation on the tracking cost function to determine a value of at least one of the front road wheel angle and the rear road wheel angle that reduces at least one of the cross-track error and the heading error, and controls a steering of the autonomous vehicle based on the value.

Claims20

Dependent claims

A method for operating an autonomous vehicle, comprising:

determining a desired path of the autonomous vehicle in a turn;
calculating a current trajectory for the autonomous vehicle in the turn based on at least a front road wheel angle of a front wheel of the autonomous vehicle and a rear road wheel angle of a rear wheel of the autonomous vehicle;
determining a cross-track error between the desired path and the current trajectory;
determining a heading error between the desired path and the current trajectory;
creating a tracking cost function based on the cross-track error and the heading error;
performing an optimization operation on the tracking cost function to determine a value of at least one of the front road wheel angle and the rear road wheel angle that reduces at least one of the cross-track error and the heading error;
and
controlling a steering of the autonomous vehicle based on the value of the at least one of the front road wheel angle and the rear road wheel angle.

5 more elements

A system for operating an autonomous vehicle, comprising:

a processor configured to:
determine a desired path of the autonomous vehicle in a turn;
calculate a current trajectory for the autonomous vehicle in the turn based on at least a front road wheel angle of a front wheel of the autonomous vehicle and a rear road wheel angle of a rear wheel of the autonomous vehicle;
determine a cross-track error between the desired path and the current trajectory;
determine a heading error between the desired path and the current trajectory;
create a tracking cost function based on the cross-track error and the heading error;
perform an optimization operation on the tracking cost function to determine a value of at least one of the front road wheel angle and the rear road wheel angle that reduces at least one of the cross-track error and the heading error;
and
control a steering of the autonomous vehicle based on the value of the at least one of the front road wheel angle and the rear road wheel angle.

6 more elements

An autonomous vehicle, comprising:

a first sensor for measuring a front road wheel angle of a front wheel of the autonomous vehicle;
a second sensor for measuring a rear road wheel angle of a rear wheels of the autonomous vehicle;
a processor configured to:
determine a desired path of the autonomous vehicle in a turn;
calculate a current trajectory for the autonomous vehicle in the turn based on at least the front road wheel angle and the rear road wheel angle;
determine a cross-track error between the desired path and the current trajectory;
determine a heading error between the desired path and the current trajectory;
create a tracking cost function based on the cross-track error and the heading error;
perform an optimization operation on the tracking cost function to determine a value of at least one of the front road wheel angle and the rear road wheel angle that reduces at least one of the cross-track error and the heading error;
and
control a steering of the autonomous vehicle based on the value of the at least one of the front road wheel angle and the rear road wheel angle.

8 more elements

Dependencies are inferred from the claim text.

Lateral controller for autonomous low-g maneuvering using front and rear steering

Life of this patent

Lateral controller for autonomous low-g maneuvering using front and rear steering

Life of this patent

Abstract

Claims20