Patent ID: 9499197
Filing Date: 2016-11-22
CPC Classification: B60T,B60W,B62D,G05D

Claim Text:
1. A method for steering control of a vehicle having an actuator which turns steered wheels of the vehicle, comprising: obtaining a location of a target point at a look-ahead distance away from the vehicle; predicting a forward location of the vehicle, wherein the forward location is at the look-ahead distance away from the vehicle; determining an error as a distance between the location of the target point and the forward location; computing a normalized error by dividing the error with the look-ahead distance; determining a steering control command based on an integration of the normalized error; and outputting the steering control command to the actuator, wherein the actuator turns the steered wheels according to the steering control command so as to steer the vehicle to perform various maneuvers.