| abstract |
In order to control the trajectory of a vehicle (1), the device (40) comprises a module (50) for developing, in real time, a stabilising action set value (δ f *) applicable to the vehicle, by multiplying a state vector Formula (I) of the vehicle by a gain (K) at each sampling point, and a module (48) for producing the gain (K) adapted, in real time, to a speed range containing the speed (v) of the vehicle (1) and to the state vector, by minimising a sum of at least two squares of the trajectory variations Formula (II) deduced from the state vector. |