Patent ID: 11970157
Assignee: C.R.F. SOCIETà CONSORTILE PER AZIONI
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 4:
5. The automotive electronic dynamics control system of claim 4, wherein the Lateral Trajectory Planner and Controller is further designed to compute the relative orientation of the motor-vehicle reference frame and the inertial reference frame as:, θ
            ROT
          
          =
          
            
              W
              ⁢
              
                
                  
                    (
                    
                      
                        θ
                        
                          i
                          +
                          2
                        
                      
                      -
                      
                        θ
                        
                          i
                          +
                          1
                        
                      
                    
                    )
                  
                  ⁢
                  d
                
                
                  d
                  
                    
                      i
                      +
                      1
                    
                    ,
                    i
                  
                
              
            
            +
            
              
                
                  (
                  
                    
                      θ
                      
                        i
                        +
                        1
                      
                    
                    -
                    
                      θ
                      i
                    
                  
                  )
                
                ⁢
                d
              
              
                d
                
                  
                    i
                    +
                    1
                  
                  ,
                  i
                
              
            
            +
            
              θ
              i
            
          
        
        ⁢
        
          

        
        ⁢
        
          d
          =
          
            
              
                
                  (
                  
                    
                      x
                      v
                    
                    -
                    
                      x
                      i
                    
                  
                  )
                
                2
              
              +
              
                
                  (
                  
                    
                      y
                      v
                    
                    -
                    
                      y
                      i
                    
                  
                  )
                
                2
              
            
          
        
        ⁢
        
          

        
        ⁢
        
          
            d
            
              
                i
                +
                1
              
              ,
              i
            
          
          =
          
            
              
                
                  (
                  
                    
                      x
                      
                        i
                        +
                        1
                      
                    
                    -
                    
                      x
                      i
                    
                  
                  )
                
                2
              
              +
              
                
                  (
                  
                    
                      y
                      
                        i
                        +
                        1
                      
                    
                    -
                    
                      y
                      i
                    
                  
                  )
                
                2
              
            
          
        
      
    
    
      
        (
        26
        )
      
    
  

where:
θROT is the orientation of the motor-vehicle reference frame relative to the inertial reference frame,
θi, θi+1, θi+2 are the orientations of the driving path segment currently driven by the motor-vehicle, of the first next driving path segment, and of the second next driving path segment in the inertial reference frame,
W is a weighting factor,
xv,yv are the current motor-vehicle's coordinates in the inertial reference frame,
d is the Euclidean distance between the current position of the motor-vehicle 2 and the end of the driving path segment containing the current position of the motor-vehicle 2, and
di+1,i is the length of the next driving path segment to the one containing the current position of the motor-vehicle 2.