In one embodiment, a lateral drifting error is determined based on at least a current location of an ADV. The lateral drifting error is segmented into a first drifting error and a second drifting error using a predetermined segmentation algorithm. A planning module plans a path or trajectory for a current driving cycle (e.g., planning cycle) to drive the ADV from the current location for a predetermined period of time. The planning module performs a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory based on the first drifting error to generate a modified trajectory. A control module controls the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.


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    Titel :

    DRIFTING CORRECTION BETWEEN PLANNING STAGE AND CONTROLLING STAGE OF OPERATING AUTONOMOUS DRIVING VEHICLES


    Beteiligte:
    ZHU FAN (Autor:in) / XU XIN (Autor:in) / KONG QI (Autor:in) / PAN YUCHANG (Autor:in) / JIANG FEIYI (Autor:in) / ZHANG LIANGLIANG (Autor:in) / TAO JIAMING (Autor:in) / FAN HAOYANG (Autor:in) / JIANG HUI (Autor:in)

    Erscheinungsdatum :

    2021-06-17


    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



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