公开(公告)号：US20190276016A1

公开(公告)日：2019-09-12

申请号：US16345060

申请日：2017-10-31

Applicant: MAGNETI MARELLI S.p.A.

Inventor： Michele Giorelli ,  Matteo Corno ,  Federico Roselli ,  Sergio Matteo Savaresi

IPC: B60W30/10 ,  B60W40/13 ,  B60W10/20 ,  B62D15/02

Abstract: A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.

公开(公告)号：US11318936B2

公开(公告)日：2022-05-03

申请号：US16345060

申请日：2017-10-31

Applicant: MAGNETI MARELLI S.p.A.

Inventor： Michele Giorelli ,  Matteo Corno ,  Federico Roselli ,  Sergio Matteo Savaresi

IPC: B60W30/00 ,  B60W30/10 ,  B60W10/20 ,  B60W40/13 ,  B62D15/02 ,  G05D1/02

Abstract: A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.