Method for guiding a motor vehicle

1 . A method for guiding a motor vehicle equipped with a velocity sensor, with a gyroscope, with a geolocating system, with a path-planning system, with a controller configured to control lateral movement, with a steering system, and with wheels,

the steering system limiting an absolute value of a yaw rate of the motor vehicle to a maximum yaw rate, a rate of change in the yaw rate being between a minimum value of a rate of change in yaw rate and a maximum value of the rate of change in yaw rate, the rate of change in yaw rate being incremented by a set adjustment increment,

the method comprising iteration of:

selecting a rate of change in yaw rate;

maximizing a virtual reference yaw rate depending on the rate of change in yaw rate and on the maximum yaw rate;

transmitting the virtual reference yaw rate to the controller that is configured to control lateral movement; and

generating a first steering command from the virtual reference yaw rate, wherein

the selecting comprises:

receiving a first steering command sent by the controller that is configured to control lateral movement in a previous iteration of the method,

receiving a second steering command applied by the steering system in the previous iteration of the method, and

computing the rate of change in yaw rate depending on a difference between the first steering command and the second steering command.

2 . The guiding method as claimed in claim 1 , further comprising, following the transmitting,

converting, via the steering system, the first steering command into a second steering command consisting of a movement of a steering shaft connected to the steered wheels.

3 . The guiding method as claimed in claim 1 , wherein the

computing the rate of change in yaw rate further depends on a previous rate of change in yaw rate computed in the previous iteration of the method, on the minimum value of the rate of change in yaw rate, on the maximum value of the rate of change in yaw rate, and on the set adjustment increment.

4 . The guiding method as claimed in claim 3 , wherein the computing the rate of change in yaw rate comprises:

comparing the first steering command and the second steering command sent in a previous iteration of the method, and

comparing the previous rate of change in yaw rate to the minimum value of the rate of change in yaw rate,

wherein:

when the first steering command is different from the second steering command, and when the previous rate of change in yaw rate is greater than the minimum value, then the rate of change in yaw rate is equal to the difference between the previous rate of change in yaw rate and the set adjustment increment, otherwise

when the first steering command is equal to the second steering command, and when the previous rate of change in yaw rate is less than the maximum value, then the rate of change in yaw rate is equal to a sum of the previous rate of change in yaw rate and of the set adjustment increment, otherwise

the rate of change in yaw rate is equal to the previous rate of change in yaw rate.

5 . The guiding method as claimed in claim 1 , wherein

the steering system is configured to process commands delivered by the controller that is configured to control lateral movement at a frequency less than or equal to a maximum processing frequency, and

the maximizing the virtual reference yaw rate comprises:

modeling a continuous closed-loop system comprising a continuous state model of the motor vehicle and a continuous model of the controller that is configured to control lateral movement,

defining a discretized closed-loop system by discretizing the model of the continuous closed-loop system at a frequency less than or equal to the maximum processing frequency, and

determining the virtual reference yaw rate via an optimization calculation.

6 . The guiding method as claimed in claim 5 , wherein the optimization calculation maximizes the virtual reference yaw rate.

7 . A device for guiding a motor vehicle, the device comprising;

circuitry configured to

select a rate of change in yaw rate,

maximize a virtual reference yaw rate depending on the rate of change in yaw rate and on a maximum yaw rate,

transmit the virtual reference yaw rate to a controller that is configured to control lateral movement, and

generate a first steering command from the virtual reference yaw rate, wherein

the circuitry is configured to select the rate of change in yaw rate by:

receiving a first steering command sent by the controller that is configured to control lateral movement in a previous iteration,

receiving a second steering command applied by a steering system in said previous iteration, and

computing the rate of change in yaw rate depending on a difference between the first steering command and the second steering command.

8 . A non-transitory computer readable medium storing a program that, when executed by a computer, causes the computer to execute the guiding method as claimed in claim 1 .