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CN107128366A 用于对拖曳车辆通过弯道提供校正的车道跟随路径的系统和方法 有权

用于对拖曳车辆通过弯道提供校正的车道跟随路径的系统和方法
摘要：
一种用于在牵引拖车的自主驱动或半自主驱动车辆中提供通过弯道的车辆转向控制的方法。该方法基于弯道的曲率和拖车的转弯半径确定拖车将驶出行驶车道。该方法针对弯道的起始位置计算车辆的起始转弯半径，针对弯道的结束位置计算车辆的结束转弯半径，以及邻近结束位置的转弯结束点或邻近起始位置的转弯起始点。该方法提供用于确定车辆通过弯道的期望路径的初始和边界条件，其防止拖车从车道驶出，并且该方法基于初始和边界条件通过求解多项式方程确定期望路径。
摘要（英）：

A method for providing vehicle steering control through a curve in an autonomously driven or semi-autonomously driven vehicle that is towing a trailer. The method determines that the trailer will cross out of the travel lane based on the curvature of the curve and the turn radius of the trailer. The method calculates a start turn radius of the vehicle for a start location of the curve, an end turn radius of the vehicle for an end location of the curve, and a turn end point proximate the end location or a turn start point proximate the start location. The method provides initial and boundary conditions for determining a desired path of the vehicle through the curve that prevents the trailer from crossing out of the lane and determines the desired path based on the initial and boundary conditions by solving a polynomial equation.

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