Patent ID: 7865299

Claim:
A method for predicting a future position of an automotive vehicle having a steering control comprising the steps of: determining the position of the vehicle at time T 0 , determining the translational and rotational speeds of the vehicle at time T 0 , determining the translational and rotational accelerations of the vehicle at time T 0 , determining an angle of the steering control at time T 0 , creating a mathematical model of the vehicle using the position, speeds, accelerations and steering control angle at time T 0 , calculating the position of the vehicle at a horizon time T 0 +T h through numerical integration of the mathematical model, wherein said calculating step further comprises the steps of: calculating the position of the vehicle at time T 0 +T h through numerical integration of the mathematical model of a first order of accuracy utilizing a step size T step , calculating the position of the vehicle at time T 0 +T h through numerical integration of the mathematical model of a second order of accuracy, determining a truncation error between the first and second order of the calculated position of the vehicle at time T 0 +T h , adjusting T step as a function of the determined truncation error.