CPC A01B 69/008 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0201 (2013.01)] | 15 Claims |
1. An apparatus including:
input interface circuitry to obtain input data associated with a vehicle;
threshold calculation circuitry to calculate, based on the input data, a threshold curvature and a threshold curvature rate of the vehicle; and
acquisition path generation circuitry to:
select a first point and a second point on a target path of the vehicle;
generate a first acquisition path from a current position of the vehicle to the first point, the first acquisition path including at least two curves;
generate a second acquisition path from the current position of the vehicle to the second point, the second acquisition path including at least two curves;
determine whether the first acquisition path and the second acquisition path satisfy the threshold curvature and the threshold curvature rate;
in response to the first acquisition path and the second acquisition path satisfying the threshold curvature and the threshold curvature rate, calculate a first path length of the first acquisition path and a second path length of the second acquisition path;
compare the first path length and the second path length to determine which acquisition path is shorter;
cause storage of a shorter acquisition path; and
vehicle control circuitry to control steering of the vehicle as it follows the shorter acquisition path.
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