System for controlling movement of a mobile body along a target path
First Claim
1. A system for controlling movement of a mobile body substantially along a target path, comprising:
- means for determining a target point on the target path;
means for determining a control quantity which will cause said mobile body to reach said target point from an original position;
means for determining a direction in which to move said mobile body toward said target point based on said control quantity;
means for determining an angular difference between said direction and said target path at the target point as a target point angular difference;
means for determining a target control quantity for the mobile body by correcting the control quantity such that the mobile body reaches the target point based on said target point angular difference; and
means for controlling said mobile body based on said target control quantity.
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Accused Products
Abstract
A mobile body such as an automobile is controlled to move substantially along a target path by a control system. The control system determines a target point on the target path, a control quantity such as a yaw rate to reach the target point to cause the mobile body to reach the target point from an optional position, the direction in which the mobile body moves at the target point based on the control quantity to reach the target point, the angular difference between the direction and the target path at the target point as a target point angular difference, and a target control quantity such as a target yaw rate for the mobile body by correcting the control quantity to reach the target point based on the target point angular difference. The mobile body is controlled based on the target control quantity.
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Citations
11 Claims
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1. A system for controlling movement of a mobile body substantially along a target path, comprising:
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means for determining a target point on the target path; means for determining a control quantity which will cause said mobile body to reach said target point from an original position; means for determining a direction in which to move said mobile body toward said target point based on said control quantity; means for determining an angular difference between said direction and said target path at the target point as a target point angular difference; means for determining a target control quantity for the mobile body by correcting the control quantity such that the mobile body reaches the target point based on said target point angular difference; and means for controlling said mobile body based on said target control quantity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification