{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreidhmj4mmdkz6gwzfywmlehlevkpom3r5lhi2sb2jmyi2ttv75cmvm"
    },
    "mimeType": "image/png",
    "size": 106493
  },
  "description": "An automotive vehicle includes an actuator configured to control vehicle steering, a sensor configured to detect a yaw rate of the vehicle, and a controller. The controller is configured to estimate a yaw rate and lateral velocity of the vehicle via a vehicle dynamics model based on a measured…",
  "path": "/patents/1269627",
  "publishedAt": "2020-08-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0088",
    "GM GLOBAL TECHNOLOGY OPERATIONS LLC"
  ],
  "textContent": "An automotive vehicle includes an actuator configured to control vehicle steering, a sensor configured to detect a yaw rate of the vehicle, and a controller. The controller is configured to estimate a yaw rate and lateral velocity of the vehicle via a vehicle dynamics model based on a measured longitudinal velocity of the vehicle, calculated road wheel angles of the vehicle, and estimated tire slip angles of the vehicle. The controller is configured to receive a measured yaw rate from the sensor, and to calculate a difference between the measured yaw rate and the estimated yaw rate. The controller is configured to apply a model correction to the vehicle dynamics model using a PID controller based on the difference, and to estimate a vehicle position based on the estimated lateral velocity and the measured longitudinal velocity. The controller is configured to automatically control the actuator based on the vehicle position.",
  "title": "SYSTEM AND METHOD FOR CONTROL OF AN AUTONOMOUS VEHICLE"
}