METHOD AND SYSTEM FOR TRACKING ROUTE OF AUTONOMOUS VEHICLE

Japanese Patent JP3442687

B2

PROBLEM TO BE SOLVED: To obtain superior position specifying capability by planning a continuous course from an actual position to a desired vehicle course with a quintic polynomial based upon an actual vehicle position, the desired vehicle course, and a front distance and making a vehicle follow up a continuous route.
SOLUTION: A steering control function block 4306 sends an instruction to a valve to control the steering angle of the wheels of the vehicle. A navigator always monitors the vehicle 102 so as to determine how far the vehicle 102 is away from the desired course. The vehicle 102 always deviates from the desired course to some extent and the system corrects it at any time. The steering angle is represented as off-course Φ steering = f(C(desired)+C(error)). A quintic method used to calculate the C(error) is the quintic polynomial in an error space limiting a smooth course for a return to desired course. The degree of the polynomial is limited by necessary data, i.e., C(error) and known end restrictions.

Kirzos Christs Tea
Gudat Adam Jay
Christensen Dana Ay
Freedrick Douglas W
Stafford Darrell Y
Sennot James W

JP15478099A

September 02, 2003

December 10, 1990

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CATERPILLAR INCORPORATED

G01C21/00; B60K31/00; B60K31/04; B62D1/00; G01C21/16; G01C21/28; G01S1/00; G01S5/00; G01S7/481; G01S7/497; G01S19/11; G01S19/41; G01S19/46; G01S19/47; G01S19/49; G05D1/00; G05D1/02; G08G1/0968; G08G1/123; G08G1/127; G09B29/10; G11B5/105; G11B5/127; G01S17/42; G01S17/86; G01S17/931; G01S19/27; G01S19/52; (IPC1-7): G05D1/02

JP1223513A
JP60112111A
JP6319010A
JP51149607A
JP1296318A
JP62501383A
JP61502149A

Minoru Nakamura (6 outside)

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