The invention relates to a method for autonomously controlling actuators of an automotive machine (10) which are adapted to influence the path and the speed of said automotive machine, including steps of: acquiring a reference path that said automotive machine should follow, determining a nominal value of at least one parameter enabling the automotive machine to follow the reference path, determining a current value of each of said parameters when said automotive machine follows the reference path, determining a value difference between the current value and the nominal value of each of said parameters, then computing, with a computer, a control setpoint for each actuator, according to each value difference, by means of a corrector.

According to the invention, the corrector allows jointly computing an exclusively lateral control setpoint of the automotive machine and an exclusively longitudinal control setpoint of the automotive machine.

A device for determining positional information relating to the position of a vehicle is configured to determine a measured value of an acceleration vector of the vehicle, and to determine a value of a dynamic component of the measured value of the acceleration vector caused by a movement of the vehicle. The device is further configured to determine an estimated value of the gravity vector based on the measured value of the acceleration vector and based on the value of the dynamic component, and to determine positional data relating to the position of the vehicle based on the estimated value of the gravity vector.

A computer system and computer-implemented method for determining a longitudinal slip limit for a steered axle of a vehicle having two steered axles are disclosed. The computer system has processing circuitry to acquire a reference body slip for a steered axle of the vehicle; acquire a current body slip for the steered axle; determine a first difference between the reference body slip and the current body slip; acquire an initial longitudinal slip limit for the steered axle; and determine an adjusted longitudinal slip limit for the steered axle based on the first difference and the initial longitudinal slip limit for the steered axle.

A computer system and computer-implemented method for determining a rotational speed limit for a steered axle of a vehicle having two steered axles are disclosed. The computer system has processing circuitry to acquire a combined slip limit for the steered axle based on a slip diamond; determine a longitudinal slip limit for the steered axle based on the combined slip limit and a current lateral slip of the steered axle; and determine a rotational speed limit for the steered axle based on the determined longitudinal slip limit, a radius of a wheel of the steered axle, and a current longitudinal velocity of the vehicle.

A computer system and computer-implemented method for determining a control input for a vehicle combination comprising a tractor unit and at least one trailing unit are disclosed. The computer system has processing circuitry to acquire parameters of a manoeuvre to be performed by the vehicle combination; determine an objective for the manoeuvre based on the acquired parameters of the manoeuvre, the objective including one or more of reducing a swept path of the vehicle combination, reducing off-tracking of the vehicle combination, and reducing rearward amplification of the vehicle combination; acquire a plurality of cost functions for motion of the vehicle combination; select one the plurality of cost functions based on the determined objective for the manoeuvre; and determine one or more control inputs for the vehicle combination to perform the manoeuvre using the selected cost function.