Disclosed are a system and a method for reducing secondary dynamic delay in a control sub-system (for example, throttle, braking, or steering) in an autonomous driving vehicle (ADV). Control input is received from an ADV recognition and planning system. The control input is switched into the control sub-system of the ADV from a control command. Referenced operating output is obtained from a storage of the ADV. The referenced operating output is flattened output describing the secondary operating delay based on a control sub-system actuator. An adaptive gain is determined according to a difference between the control input and the referenced operating output, and the adaptive gain is applied to an input control signal to reduce an error between control output and the referenced operating output.
자율 주행 차량(ADV)에서 제어 서브시스템(예를 들면, 스로틀, 제동 또는 조향)에서 2 차 동적 지연을 줄이기 위한 시스템 및 방법이 개시된다. 제어 입력은 ADV 인식 및 계획 시스템에서 수신된다. 제어 입력은 제어 명령에서 ADV의 제어 서브시스템으로 변환된다. 참조 작동 출력은 ADV의 저장소에서 획득된다. 참조 작동 출력은 제어 서브시스템 액추에이터에 기인한 2차 작동 동적 지연을 설명하는 평활화된 출력이다. 제어 입력과 참조 작동 출력의 차이에 따라 적응형 이득이 결정되고 입력 제어 신호에 적용하여 제어 출력과 참조 작동 출력 간의 오차를 줄인다.
MODEL REFERENCE ADPTIVE CONTROL ALGORITHM TO ADDRESS THE VEHICLE ACTUATION DYNAMICS
차량 작동 역학을 해결하기 위한 모델 참조 적응형 제어 알고리즘
2021-09-01
Patent
Elektronische Ressource
Koreanisch
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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