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公开(公告)号:US20230100742A1
公开(公告)日:2023-03-30
申请号:US17953568
申请日:2022-09-27
摘要: A computer implemented method for lateral control of a vehicle comprises the following steps carried out by computer hardware components: determining a location error of the vehicle; determining an orientation error of the vehicle; determining a cost function based on the location error and the orientation error using a circular transformation; and processing the cost function in a model predictive controller to control the vehicle laterally.