A method and system for actuating a control subsystem of an autonomous driving vehicle (ADV) control system are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle. A control input is received from an ADV perception and planning system. The control input is translated in a control command to a control subsystem of the ADV. A reference actuation output is obtained from a storage of the ADV. The reference actuation output is a smoothed output that accounts for second order actuation dynamic delays attributable to the control subsystem actuator. Based on a difference between the control input and the reference actuation output, adaptive gains are determined and applied to the input control signal to reduce error between the control output and the reference actuation output.
METHOD AND SYSTEM FOR ACTUATING A CONTROL SUBSTEM OF AN AUTONOMOUS DRIVING VEHICLE
VERFAHREN UND SYSTEM ZUR BETÄTIGUNG EINES STEUERUNGSUNTERSYSTEMS EINES AUTONOM FAHRENDEN FAHRZEUGS
PROCÉDÉ ET SYSTÈME D'ACTIONNEMENT D'UN SOUS-SYSTÈME DE COMMANDE D'UN VÉHICULE À CONDUITE AUTONOME
2022-10-19
Patent
Elektronische Ressource
Englisch
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 |
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