Title:
How to control the course of the autonomous vehicles which have a handle
Document Type and Number:
Japanese Patent JP6161697
Kind Code:
B2
Abstract:
A method for controlling the position and speed of a vehicle having steered wheels includes, determining an overall path comprising a plurality of points and defining the course of the vehicle between a starting point and an endpoint; determining the current position of the vehicle; if the current position does not correspond to a point on the overall path, generating a local path connecting the current position of the vehicle to a point on the overall path; and generating control signals in order to steer the steered wheels and control the speed of the vehicle so that the vehicle moves along the local path. The control signals are generated by convex optimization of linear matrix inequalities.
Inventors:
Minnow-Enache, Nicoletta
Application Number:
JP2015521039A
Publication Date:
July 12, 2017
Filing Date:
July 01, 2013
Export Citation:
Assignee:
RENAULT S.A.S.
International Classes:
G05D1/02; B60W10/00; B60W10/04; B60W10/184; B60W10/20; B60W30/06; B62D6/00
Domestic Patent References:
| JP2000089826A |
Foreign References:
| WO1997036217A1 | ||||
| WO2012008085A1 | ||||
| US7970574 |
Other References:
ダオ ミン クアン, 劉 康志, 大形 明弘,4輪車自動駐車システムの開発-理論と実験-,計測自動制御学会論文集,日本,計測自動制御学会,2004年,Vol.40, No.12,p.1211-p.1219
Ramon Gonzalez, Mirko Fiacchini, Teodoro Alamo, Jose Luis Guzman, Francisco Rodriguez,Adaptive Control for a Mobile Robot Under Slip Conditions Using an LMI-Based Approach,European Journal of Control,2010年,Volume 16, Issue 2, p.144-p.155
Ramon Gonzalez, Mirko Fiacchini, Teodoro Alamo, Jose Luis Guzman, Francisco Rodriguez,Adaptive Control for a Mobile Robot Under Slip Conditions Using an LMI-Based Approach,European Journal of Control,2010年,Volume 16, Issue 2, p.144-p.155
Attorney, Agent or Firm:
Sonoda Yoshitaka
Kobayashi Yoshinori
Kobayashi Yoshinori