Method for autonomously controlling an actuator of a device

1 . A method for autonomous control of at least one actuator of an automotive device which is configured to influence a trajectory of said automotive device to avoid an obstacle in a path of the automotive device, the method comprising:

acquiring parameters relating to the trajectory of the automotive device and to a speed of said automotive device,

calculating, using a computer, a control setpoint for each actuator, as a function of said parameters, using a controller,

wherein the controller used varies as a function of the speed of the automotive device and comprises several components, including at least one state return gain to be applied to said parameters and at least one saturation compensation gain to be applied to a value of the control setpoint which was determined in a preceding iteration, and

wherein the controller used is selected from several controllers, each of the several controllers being associated with a different curvature, and the controller used is selected as having a closest curvature from among the several controllers to a radius of curvature of the trajectory.

2 . The control method as claimed in claim 1 , wherein said automotive device is a vehicle comprising wheels, a power steering actuator, and a differential braking actuator, and the controller comprises several components for determining a control setpoint for said power steering actuator and a control setpoint for said differential braking actuator.

3 . The control method as claimed in claim 2 , wherein the controller can be written in the form of a sum of a plurality of products of a variable dependent on the speed and of a local controller independent of the speed.

4 . The control method as claimed in claim 3 , wherein each local controller is determined for a determined value of a vector of two varying (scheduling) parameters.

5 . The control method as claimed in claim 4 , wherein one of said two varying (scheduling) parameters is equal to the speed of the vehicle and the other of said two varying (scheduling) parameters is equal to an inverse of said speed.

6 . The control method as claimed in claim 1 , wherein the controller conforms to at least one saturation function being modeled per non-linear sector.

7 . The control method as claimed in claim 6 , wherein the saturation function conforms to a setpoint amplitude limiter model and can be expressed in the form:

ψ 1 ( x )= sat η ( K (ρ)· x )− K (ρ)· x , where

K is the controller, sat η is an amplitude limiting function and x is a state vector of said automotive device comprising said parameters.

8 . The control method as claimed in claim 6 , wherein the saturation function conforms to a model limiting a variation in control setpoint and can be expressed in the form:

ψ 2 ( x )= sat v ( A 1 x+B 1 sat η ( K (ρ)· x ))−( A 1 x+B 1 sat η K (ρ)· x ), where

K is the controller, sat v is an amplitude limiting function, A1 and B1 are predetermined matrices, and x is a state vector of said automotive device comprising said parameters.

9 . The control method as claimed in claim 1 , wherein the controller conforms to a modeling of said device in which one output to be minimized is a function of a trajectory-following error and of a heading angle error.

10 . The control method as claimed in claim 1 , wherein, with said automotive device being a vehicle comprising wheels, a power steering actuator, and a differential braking actuator, the control setpoint for said power steering actuator is calculated as a function of a control setpoint for said differential braking actuator which was determined in a preceding iteration, and/or the control setpoint for said differential braking actuator is calculated as a function of a control setpoint for said power steering actuator which was determined in a preceding iteration.

11 . An automotive device comprising at least one actuator configured to influence the trajectory of said device and a computer configured to control said actuator, wherein the computer is configured to implement the control method as claimed in claim 1 .