Method for controlling the trajectory of a vehicle enabling obstacle avoidance
AssigneeAmpere S.A.S.
InventorsDimitrios KAPSALIS, John-Jairo MARTINEZ, Vicente MILANES, Olivier SENAME
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Abstract
A method controls the trajectory of a vehicle when approaching an obstacle. The method includes controlling a steering angle of the wheels implementing a calculation of a yaw rate setpoint of the vehicle and a control loop of the steering angle of the wheels as a function of the calculated yaw rate setpoint, controlling the steering angle of the wheels using a longitudinal speed of the vehicle, and controlling a speed of the vehicle. The longitudinal speed of the vehicle is a set longitudinal speed determined during the step of controlling the speed of the vehicle.
Claims11
1-10. (canceled)
A method for controlling a path of a vehicle approaching an obstacle, comprising:
- controlling a steering angle of wheels implementing a computation of a yaw-rate setpoint of the vehicle and a loop for controlling the steering angle of the wheels depending on the computed yaw-rate setpoint, the controlling the steering angle of the wheels using a longitudinal speed of the vehicle;
- and
- controlling a speed of the vehicle,
- wherein said longitudinal speed of the vehicle is a setpoint longitudinal speed determined in the controlling the speed of the vehicle.
Dependencies are inferred from the claim text.