A control system and method

A system for controlling a vehicle, the system comprising:

• a non-transitory computer-readable storage medium;
• and
• a path controller operably coupled to the storage medium,
• wherein the path controller is configured to obtain waypoint data for a series of waypoints from the storage medium and to determine interpolation point data for a series of interpolation points defining a target path for the vehicle by interpolating between the waypoints,
• wherein the path controller is configured to control the vehicle such that the vehicle follows the target path,
• wherein:
• (a) the waypoint data includes position data and at least one of heading data, curvature data, and/or inflection data,
• or
• (b) the waypoint data includes the position data and the method includes using the path controller to determine, using the waypoint data, the at least one of the heading data, the curvature data, and/or the inflection data,
• and
• wherein the curvature data represents the heading data differentiated with respect to distance travelled and the inflection data represents the curvature data differentiated with respect to the distance travelled.

A computer program product or computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out a method comprising:

• providing waypoint data for a series of waypoints to a path controller;
• using the path controller to determine interpolation point data for a series of interpolation points defining a target path for the vehicle by interpolating between the waypoints;
• and
• controlling the vehicle such that the vehicle follows the target path,
• wherein:
• (a) the waypoint data includes position data and at least one of heading data, curvature data, and/or inflection data,
• or
• (b) the waypoint data includes the position data and the method includes using the path controller to determine, using the waypoint data, the at least one of the heading data, the curvature data, and/or the inflection data,
• and
• wherein the curvature data represents the heading data differentiated with respect to distance travelled and the inflection data represents the curvature data differentiated with respect to the distance travelled.