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Vehicle control system and associated methods for continuous path control of the vehicle taking into consideration cross currents that influence the vehicle trajectory
Vehicle control system and associated methods for continuous path control of the vehicle taking into consideration cross currents that influence the vehicle trajectory
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机译:考虑到影响车辆轨迹的横向电流的车辆控制系统和用于车辆连续路径控制的相关方法
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摘要
A method for generating a path trajectory of a vehicle, taking into consideration cross currents influencing the vehicle path, which is based on a starting point, a path point as a target point, the relevant vehicle properties, as well as a current field influencing the path of vehicle. A current trajectory is formed as an integral of time over a current vector, wherein the time is the travel time, so that each point on the current trajectory corresponds to a time point, over which the vehicle path control at any time point can be related to a corresponding point on the current trajectory, and wherein the direction of the instantaneous actual position with respect to the instantaneous current point is used as a theoretical quantity for each control time point. A continuous path control system for conducting the method is provided.
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