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1. (WO2018157999) DEVICE FOR CONTROLLING THE TRAJECTORY OF A VEHICLE

Pub. No.:    WO/2018/157999    International Application No.:    PCT/EP2018/051354
Publication Date: Sat Sep 08 01:59:59 CEST 2018 International Filing Date: Sat Jan 20 00:59:59 CET 2018
IPC: B62D 15/02
B60W 30/12
B60W 40/072
G06F 17/50
Applicants: RENAULT S.A.S
Inventors: BALESTEROS-TOLOSANA, Iris
DAVINS-VALLDAURA, Joan
DEBORNE, Renaud
OLARU, Sorin
Title: DEVICE FOR CONTROLLING THE TRAJECTORY OF A VEHICLE
Abstract:
The device for controlling, in real time, the trajectory of an autonomous vehicle (1) comprises a control module (13) which produces, in real time, from an actual or estimated state vector (I) at each point in time k for following a path by the vehicle (1) moving at a current speed (v), a first steering command (uk) in order to stabilise the trajectory of the vehicle relative to said path. The device comprises an anticipation module (19) which generates a variable (A) representative of a meta-vector (Γk) of deviations for each predicted position of the vehicle (1) at points in time resulting in a given quantity (N) at the current point in time (k) and of the state vector (I) at the current point in time (k). The control module (13) produces the first steering command (uk) by means of the quadratic optimisation of a relationship between the generated representative variable (h) and a meta-vector (Uk) of successive steering commands for each predicted position of the vehicle (1) at points in time resulting in a given quantity (N) at the current point in time (k).