{
  "$type": "site.standard.document",
  "description": "A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory…",
  "path": "/patents/1243094",
  "publishedAt": "2019-09-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/10",
    "MAGNETI MARELLI S.p.A."
  ],
  "textContent": "A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.",
  "title": "ADAPTIVE CONTROL METHOD AND SYSTEM IN A TERRESTRIAL VEHICLE FOR TRACKING A ROUTE, PARTICULARLY IN AN AUTONOMOUS DRIVING SCENARIO"
}