Patent ID: 9567004
Date: 2017-02-14
CPC Classifications: B62D

Claim:
1. A method for vehicle path tracking with error correction, the method comprising steps of: acquiring vehicle instant information and a target path; developing a predictive path in accordance with the vehicle instant information; determining a vehicle yaw rate threshold value in accordance with the vehicle instant information; calculating a steering angle corresponding to the vehicle yaw rate threshold value; estimating a lateral error correction value corresponding to the steering angle; determining whether the lateral error correction value is not greater than an error value between the target path and the predictive path; controlling a vehicle to turn the steering angle corresponding to the lateral error correction value when the lateral error correction value is not greater than the error value between the target path and the predictive path; and controlling the vehicle to turn the steering angle corresponding to the error value when the lateral error correction value is greater than the error value between the target path and the predictive path.