Abstract
The present disclosure relates to a reference yaw rate generator for an autonomous ground vehicle control system. The reference yaw rate generator is configured to generate a reference yaw rate (r.sub.r) based on an actual latitudinal position (Y), a desired latitudinal position (Y.sub.d), an actual longitudinal position (X), a desired longitudinal position (X.sub.d) and an actual heading (.psi.) of the autonomous ground vehicle.
Patent Number
8,180,513
Date Of Issue
Inventors
Jumnin Wang; Bapiraju Surampudi; Joe Steiber