The invention discloses autonomous vehicle actuation dynamics and latency identification. Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.
本申请公开了自主车辆致动动力学和延迟识别。公开了用于识别由于在现有技术的控制系统中被忽视的二阶动力学而引起的时间延迟和子系统控制致动动态延迟的系统和方法。实施例通过开发具有参数的离散时间动态模型并且使用最小二乘法对选择的人群驾驶数据估计参数识别时间延迟和子系统控制致动延迟。在估计模型参数之后,模型可以用于识别动态致动延迟度量,诸如控制子系统的时间延迟、上升时间、稳定时间、过冲、带宽和谐振峰值。控制子系统可以包括转向、制动和油门。
AUTONOMOUS VEHICLE ACTUATION DYNAMICS AND LATENCY IDENTIFICATION
自主车辆致动动力学和延迟识别
2021-08-13
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
AUTONOMOUS VEHICLE ACTUATION DYNAMICS AND LATENCY IDENTIFICATION
Europäisches Patentamt | 2021
|Autonomous vehicle actuation dynamics and latency identification
Europäisches Patentamt | 2021
|