STEERING CONTROL DEVICE OF AUTONOMOUS VEHICLE, AUTONOMOUS VEHICLE HAVING THE SAME AND STEERING CONTROL METHOD OF AUTONOMOUS VEHICLE
First Claim
1. A steering control method of an autonomous vehicle, the method comprising:
- receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to north;
calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint;
calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and
compensating for the steering command based on the first and second heading angles.
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Abstract
Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.
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Citations
13 Claims
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1. A steering control method of an autonomous vehicle, the method comprising:
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receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A steering control device of an autonomous vehicle, the device comprising:
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a waypoint selection unit for selecting a tracking waypoint of an autonomous vehicle based on a current position of the autonomous vehicle with using received waypoints; a computation unit for calculating a second heading angle of the autonomous vehicle toward the tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; and a steering command generation unit for calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, generating a steering command corresponding to the calculated yaw rate, and compensating for the steering command based on the second heading angle, and a first heading angle of the autonomous vehicle with respect to north. - View Dependent Claims (11, 12)
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13. An autonomous vehicle, comprising:
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a body configured to autonomously move and mounted with a driving means; a receiver for receiving a position of the body, a first heading angle of the body with respect to north, and waypoints; a steering control device for selecting one of the waypoints as a tracking waypoint based on the position of the body, and generating a steering command such that the body tracks the tracking waypoint; and a driving controller for receiving the steering command, and controlling the driving means according to the received steering command, wherein the steering control device calculates a second heading angle of the autonomous vehicle toward the tracking waypoint based on the position of the autonomous vehicle, and computes a rotation radius of the autonomous vehicle, wherein the steering control device calculates a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, generates a steering command corresponding to the calculated yaw rate, and wherein the steering control device compensates for the generated steering command based on the first and second heading angles.
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Specification