In one embodiment, an autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.
Method and system for steering control of an autonomous vehicle using proportional, integral, and derivative (PID) controller
2018-11-06
Patent
Elektronische Ressource
Englisch
Europäisches Patentamt | 2018
|Autonomous Lane Change Control Using Proportional-Integral-Derivative Controller and Bicycle Model
British Library Conference Proceedings | 2020
|