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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    METHOD AND SYSTEM FOR ACTUATING A CONTROL SUBSTEM OF AN AUTONOMOUS DRIVING VEHICLE


    Weitere Titelangaben:

    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


    Beteiligte:
    WANG YU (Autor:in) / HU JIANGTAO (Autor:in) / LUO QI (Autor:in) / JIANG SHU (Autor:in) / MIAO JINGHAO (Autor:in) / WANG JINGAO (Autor:in) / ZHOU JINYUN (Autor:in) / XU JIAXUAN (Autor:in)

    Erscheinungsdatum :

    2022-10-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    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 DRIVING CONTROL METHOD, AUTONOMOUS DRIVING CONTROL SYSTEM, AND VEHICLE

    ZHANG XIANHUI / YUAN DA / XU CHAO et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTONOMOUS DRIVING CONTROL METHOD, AUTONOMOUS DRIVING CONTROL SYSTEM, AND VEHICLE

    ZHANG XIANHUI / YUAN DA / XU CHAO et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    AUTONOMOUS DRIVING CONTROL APPARATUS FOR VEHICLE, AUTONOMOUS DRIVING CONTROL METHOD FOR VEHICLE, AND VEHICLE SYSTEM

    CHOI TAE SUNG / LEE DONG HWI / CHU KEON YUP et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Autonomous driving vehicle and control method for autonomous driving vehicle

    ARAKAWA SEIJI | Europäisches Patentamt | 2020

    Freier Zugriff