SYSTEM AND METHOD FOR CONTROLLING A VEHICLE
First Claim
1. A system, comprising:
- a control system configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle, wherein the control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of a curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle, and wherein the control system is subsequently configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position on the desired path, calculate an updated virtual path based on the updated current position and the updated target position, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface.
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0 Petitions
Accused Products
Abstract
A control system is configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle. The control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle. The control is also configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position, calculate an updated virtual path based on the updated current position and updated desired path, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface.
22 Citations
20 Claims
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1. A system, comprising:
a control system configured to receive a first signal indicative of a current position of a vehicle and a second signal indicative of a desired path for the vehicle, wherein the control system is configured to calculate a virtual path between the current position and a target position on the desired path and to output a third signal indicative of a curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle, and wherein the control system is subsequently configured to iteratively receive an updated current position, receive any updates to the desired path, calculate an updated target position on the desired path, calculate an updated virtual path based on the updated current position and the updated target position, and output an updated curvature command corresponding to a respective initial curvature of the updated virtual path as the vehicle travels across a surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A non-transitory computer-readable medium having computer executable code stored thereon, the code comprising instructions to:
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receive a first signal indicative of a current position of a vehicle; calculate a virtual path between the current position and a target position on a desired path for the vehicle; output a third signal indicative of a curvature command corresponding to an initial curvature of the virtual path to adjust a steering angle of the vehicle; and iteratively calculate virtual paths between respective updated current positions and updated target positions, and output updated curvature commands corresponding to a respective initial curvature of the iteratively calculated virtual paths as the vehicle travels across a surface to guide the vehicle toward or along the desired path. - View Dependent Claims (10, 11, 12)
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13. A method of controlling a vehicle, comprising:
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using a processor for; receiving a first signal indicative of a current position of a vehicle; receiving a second signal indicative of a desired path for the vehicle; calculating a virtual path between the current position and a target position on the desired path; outputting a third signal indicative of a curvature command corresponding to an initial curvature of the virtual path to cause a steering control system of the vehicle to adjust a steering angle of the vehicle; and iteratively calculating virtual paths between respective updated current positions and updated target positions, and outputting updated curvature commands corresponding to a respective initial curvature of the iteratively calculated virtual paths as the vehicle travels across a surface. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification