In one embodiment, when speed control command (e.g., throttle, brake commands) is issued based on a target speed, a first feedback parameters is determined based on an expected speed and an actual speed of the ADV in response to the speed control command. A second feedback parameter is determined by applying a speed control parameter adjustment (SCPA) model to a set of input parameters that are captured or measured at the point in time. The set of input parameters represents a driving environment of the ADV at the point in time. One or more control parameters of a speed controller of the ADV is adjusted based on the first feedback parameter and the second feedback parameter, where the speed controller is configured to generate and issue speed control commands. Subsequent speed control commands can be generated based on the adjusted speed control parameters of the speed controller.
SPEED CONTROL PARAMETER ESTIMATION METHOD FOR AUTONOMOUS DRIVING VEHICLES
2018-06-14
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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