Autonomous Ground Vehicle Control System For High-Speed And Safe Operation
AssigneeSouthwest Research Institute
InventorsJunmin WANG, Bapiraju SURAMPUDI, Joe STEIBER
Life of this patent
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Abstract
The present disclosure relates to a reference yaw rate generator for an autonomous ground vehicle control system. The reference yaw rate generator is configured to generate a reference yaw rate (rr) based on an actual latitudinal position (Y), a desired latitudinal position (Yd), an actual longitudinal position (X), a desired longitudinal position (Xd) and an actual heading (ψ) of the autonomous ground vehicle.
Claims19
A reference yaw rate generator for an autonomous ground vehicle control system wherein said reference yaw rate generator is configured to generate a reference yaw rate (rr) based on an actual latitudinal position (Y), a desired latitudinal position (Yd), an actual longitudinal position (X), a desired longitudinal position (Xd) and an actual heading (ψ) of said autonomous ground vehicle.
An autonomous ground vehicle control system for a vehicle having a steering mechanism, comprising:
- a reference yaw rate generator for said autonomous ground vehicle control system wherein said reference yaw rate generator is configured to generate a reference yaw rate based on an actual latitudinal position, a desired latitudinal position, an actual longitudinal position (X) and desired longitudinal position (Xd) and an actual heading of said autonomous ground vehicle;
- and
- a yaw rate tracking controller configured to receive said reference yaw rate and configured to adjust a steering mechanism based on said reference yaw rate.
A method for steering an autonomous ground vehicle comprising:
- providing an actual latitudinal position (Y), a desired latitudinal position (Yd), an actual longitudinal position (X), desired longitudinal position (Xd) and an actual heading (ψ) of said autonomous ground vehicle;
- and
- generating a reference yaw rate (rr) based on said actual latitudinal position (Y), said desired latitudinal position (Yd), said actual longitudinal position (X), said desired longitudinal position (Xd) and said actual heading (ψ) of said autonomous ground vehicle.
An article comprising a storage medium having stored thereon instructions that when executed by a machine result in the following operations for an autonomous ground vehicle:
- generating a reference yaw rate (rr) based on an actual latitudinal position (Y), a desired latitudinal position (Yd), an actual longitudinal position (X), a desired longitudinal position (Xd) and an actual heading (ψ) of said autonomous ground vehicle.
Dependencies are inferred from the claim text.