System and method for enabling an autonomous vehicle to track a desired path
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United States of America Patent
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Nov 4, 1997
Grant Date -
N/A
app pub date -
May 1, 1995
filing date -
Feb 5, 1990
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.
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