05684696 is referenced by 172 patents and cites 19 patents.

A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.

Title
System and method for enabling an autonomous vehicle to track a desired path
Application Number
487980
Publication Number
5684696
Application Date
May 1, 1995
Publication Date
November 4, 1997
Inventor
Lonnie J Devier
Pittsburgh
PA, US
Larry E Schmidt
Peoria
IL, US
Joel L Peterson
Peoria
IL, US
Craig L Koehrsen
Peoria
IL, US
Walter J Bradbury
Peoria
IL, US
Carl A Kemner
Peoria Heights
IL, US
Sanjiv J Singh
Pittsburgh
PA, US
Karl W Kleimenhagen
Peoria
IL, US
William L Whittaker
Pittsburgh
PA, US
Dong Hun Shin
Pittsburgh
PA, US
Prithvi N Rao
Pittsburgh
PA, US
Agent
Sterne Kessler Goldstein & Fox
Assignee
Caterpillar
IL, US
IPC
G06F 165/00
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