Method and system for controlling movements of an autonomous vehicle with self diagnosis capability
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United States of America Patent
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Jan 24, 2023
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N/A
app pub date -
Dec 23, 2020
filing date -
Dec 23, 2020
priority date (Note) -
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Abstract
A method for controlling movement of an autonomous vehicle includes: estimating a set of tire force margins with respect to each wheel of the vehicle and a set of dynamic chassis margins associated with a chassis module of the vehicle; based on the margins, determining whether the vehicle is capable of moving in accordance with a decision command; when the determination is negative, outputting a request for update of the decision command; and when an updated decision command has not been received, calculating a set of marginal actuating signals based on the decision command, the margins, required slip angles respectively for the wheels and a center of percussion of the vehicle so as to make the autonomous vehicle move accordingly.
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