Patent ID: 8265826

Claim:
A method of controlling a vehicle including a steering control mechanism, which method comprises the steps of: computing a position and a heading for the vehicle using a GNSS multiple antenna system in combination with a rate gyro; computing a steering control command using said vehicle position and heading; applying said steering control command to the vehicle steering mechanism; providing the vehicle steering control mechanism with a control value corresponding to the performance of the vehicle; steering said vehicle with said steering control mechanism utilizing said steering control command and said control value; basing the steering control command on a first proportionality factor multiplied by a difference in a desired position versus an actual position plus a second proportionality factor multiplied by a difference in a desired heading versus an actual heading; insuring with said second proportionality factor that when said vehicle attains said desired position the vehicle is also directed to said desired heading, and thereby avoids crossing a desired track; using a recursive, adaptive algorithm using said first and second proportionality factors to characterize the vehicle response and selected dynamic characteristics; calculating response times and characteristics for the vehicle based on said responses; and calibrating said steering control command by applying a modified steering control command based on said responses to achieve a desired response.