FIELD: vehicles.
SUBSTANCE: invention relates to methods and processors for steering control of a self-driving car. The method for steering control of a self-driving car (SDC) is implemented by means of a computer. The SDC is communicatively connected with a processor and has a predetermined range of steering wheel positions that are physically possible for the SDC. The method includes the stages of obtaining data on the state of the SDC from a memory apparatus, associated with two consecutive vertices on a graph structure, using the data on the state of the SDC to obtain a set of parameters for constructing a polynomial curve, using the polynomial curve to simulate a possible path of the SDC as if the SDC is controlled using a steering wheel in accordance with the plurality of possible options of positions of the steering wheel at corresponding times, and so that instead of an unauthorised position of the steering wheel, the nearest authorised position of the steering wheel relative to the unauthorised position of the steering wheel is used in the predetermined range of positions of the steering wheel, determining the displacement between the simulated state of the SDC and a second target state of the SDC, in response to a displacement below a predetermined threshold value, selecting a possible steering profile option as the SDC target steering profile, and using the SDC target steering profile to control steering of the SDC when the SDC is in the first target state.
EFFECT: increased safety of vehicle operation is achieved.
32 cl, 11 dwg
