LATERAL CONTROL FOR VEHICLE WIRELESS CHARGING GUIDANCE

A method for providing low speed lateral steering control for an autonomously driven or semi-autonomously driven vehicle includes obtaining a desired final vehicle position relative to a current vehicle position, and calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position. The method further includes calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel command value; and providing the control signal to a steering controller. 一种用于为自动驾驶或半自动驾驶车辆提供低速横向转向控制的方法包括：获取相对于当前车辆位置的期望的最终车辆位置；以及由一个或多个数据处理器基于所述当前车辆位置和所述期望的最终车辆位置计算目标车辆位置。该方法还包括：由所述一个或多个数据处理器基于所述目标车辆位置计算车轮角度命令值；由所述一个或多个数据处理器基于所计算的车轮命令值确定控制信号；以及将所述控制信号提供给转向控制器。