Title:
STEERING CONTROL DEVICE OF AUTONOMOUS VEHICLE, AUTONOMOUS VEHICLE HAVING THE SAME AND STEERING CONTROL METHOD OF AUTONOMOUS VEHICLE
Document Type and Number:
WIPO Patent Application WO/2011/142508
Kind Code:
A1
Abstract:
Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and 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, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.
Inventors:
CHOE, Tok Son (Yeolmae Maeul Apt, Jijok-Dong, Yuseong-Gu, Daejeon 305-770, 412-1606, KR)
PARK, Yong Woon (Gangbyeon Apt, Mannyeon-Dong, Seo-Gu, Daejeon 302-741, 107-1402, KR)
CHAE, Jeong Sook (Hanareum Apt, Wolpyeong-Dong, Seo-Gu, Daejeon 302-280, 105-1102, KR)
PARK, Yong Woon (Gangbyeon Apt, Mannyeon-Dong, Seo-Gu, Daejeon 302-741, 107-1402, KR)
CHAE, Jeong Sook (Hanareum Apt, Wolpyeong-Dong, Seo-Gu, Daejeon 302-280, 105-1102, KR)
Application Number:
KR2010/006593
Publication Date:
November 17, 2011
Filing Date:
September 28, 2010
Export Citation:
Assignee:
AGENCY FOR DEFENSE DEVELOPMENT (111 Sunam-Dong, Yuseong-G, Daejeon 305-152, KR)
CHOE, Tok Son (Yeolmae Maeul Apt, Jijok-Dong, Yuseong-Gu, Daejeon 305-770, 412-1606, KR)
PARK, Yong Woon (Gangbyeon Apt, Mannyeon-Dong, Seo-Gu, Daejeon 302-741, 107-1402, KR)
CHAE, Jeong Sook (Hanareum Apt, Wolpyeong-Dong, Seo-Gu, Daejeon 302-280, 105-1102, KR)
CHOE, Tok Son (Yeolmae Maeul Apt, Jijok-Dong, Yuseong-Gu, Daejeon 305-770, 412-1606, KR)
PARK, Yong Woon (Gangbyeon Apt, Mannyeon-Dong, Seo-Gu, Daejeon 302-741, 107-1402, KR)
CHAE, Jeong Sook (Hanareum Apt, Wolpyeong-Dong, Seo-Gu, Daejeon 302-280, 105-1102, KR)
International Classes:
B62D6/00; B60W10/20
Attorney, Agent or Firm:
PARK, Jang-Won (3rd Floor, Shinyoung Wacoal Bldg.49-4 Nonhyun-dong, Gangnam-gu, Seoul 135-814, KR)
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Claims: