Guidance Control in Detail
English, Revision 07, Date: 07.03.2018
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Segment 0 in the steering controller can be used as a version number of the segment
file. Segment 1 is the transition for offset driving on the left. Segment 2 serves as a tran-
sition for offset driving on the right. Both segments have to start with the coordinates
X = 0 and Y = 0. The X direction is the longitudinal direction. The Y direction represents
the offset to the actual track.
The segments should be as short as possible. Segment 3 is the return from the left off-
set to the actual track. Segment 4 is the return from the right offset to the actual track.
Figure 9
Offset segments
The offset option will be released via the attributes "offset left" (0x00000400) and offset
right (0x00000200) in the segment. The offset will be released via CAN bus in message
0x196 byte 5 bit 2 (switching right) and bit 3 (switching left). If this attribute is canceled
while the vehicle still moves to the side, the vehicle stops with an error message.
Therefore a free attribute should mark the end of the offset track early enough to undo
the offset driving.
Figure 10
Example drive
2.1.4
Calculation of the Steering Angle
The key task of the steering controller is to keep the vehicle on the intended track. This
means that the center of the fixed axis is constantly kept on the track, e.g. the center
of the rear axis of a given three- wheeler as shown in Figure 11. This is realized with
the steering angle. It is comprised of 2 components: The feed back control / regulator
