公开(公告)号：US20250136105A1

公开(公告)日：2025-05-01

申请号：US18403736

申请日：2024-01-04

Applicant: Industrial Technology Research Institute

Inventor： Jheng-Rong Wu ,  Chiung-Hung Chen ,  Hong-Xian Tsai ,  Pei-Jung Liang

IPC: B60W30/12 ,  B60W10/20 ,  B60W50/00 ,  G06F17/17

Abstract: A device and a method for steering a vehicle are provided. The method includes following steps: obtaining a point cloud data of a vehicle through a lidar, obtaining an RGB image of the vehicle through a camera, and obtaining a current speed of the vehicle through a wheel speed sensor; using the current speed and local path way points associated with the point cloud data to obtain a target angle; using the current speed and a central lane distance error associated with the RGB image to obtain a compensator angle; and using the target angle and the compensator angle to obtain a steering command, and steering the vehicle to drive in a lane according to the steering command.