System and method for control of an autonomous vehicle
An automotive vehicle includes an actuator configured to control vehicle steering, a sensor configured to detect a yaw rate of the vehicle, and a controller. The controller is configured to estimate a yaw rate and lateral velocity of the vehicle via a vehicle dynamics model based on a measured longitudinal velocity of the vehicle, calculated road wheel angles of the vehicle, and estimated tire slip angles of the vehicle. The controller is configured to receive a measured yaw rate from the sensor, and to calculate a difference between the measured yaw rate and the estimated yaw rate. The controller is configured to apply a model correction to the vehicle dynamics model using a PID controller based on the difference, and to estimate a vehicle position based on the estimated lateral velocity and the measured longitudinal velocity. The controller is configured to automatically control the actuator based on the vehicle position.
GM GLOBAL TECHNOLOGY OPERATIONS LLC
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Ping Qi
Hwang Zhang