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Steering control device of autonomous vehicle, autonomous vehicle having the same and steering control method of autonomous vehicle

  • US 8,983,708 B2
  • Filed: 09/28/2010
  • Issued: 03/17/2015
  • Est. Priority Date: 05/11/2010
  • Status: Active Grant
First Claim
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1. A steering control method of an autonomous vehicle, the method comprising:

  • receiving, using a sensor, 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;

    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;

    generating a steering command corresponding to the calculated yaw rate;

    compensating for the steering command based on the first and second heading angles; and

    controlling the autonomous vehicle with the compensated steering command;

    wherein the step of generating a steering command comprises a step of generating a steering command corresponding to the calculated yaw rate based on a preset characteristic formula that has the form output=f(θ



    ), where θ



    is the calculated yaw rate and output is the steering command;

    wherein the characteristic formula comprises a polynomial expression and has a single independent variable and a single dependent variable that functionally relate to a value of the steering command and a value of the calculated yaw rate; and

    wherein the polynomial expression has at least one coefficient and the coefficient is calculated based on output yaw rates measured on a road surface with respect to additional steering commands.

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