Systems and methods are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle (ADV) and increasing control system bandwidth by accounting for time-latency in a control subsystem actuation system. A control input is received from an ADV's autonomous driving system. The control input is translated into a control command of the control subsystem of the ADV. A reference actuation output and a predicted actuation output are generated corresponding to a by-wire (“real”) actuation action for the control subsystem. A control error is determined between the reference actuation action and the by-wire actuation action. A predicted control error is determined between the predicted actuation action and the between the by-wire actuation action. Adaptive gains are determined and applied to the by-wire actuation action to generate a second by-wire actuation action.


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    Titel :

    EXTENDED MODEL REFERENCE ADAPTIVE CONTROL ALGORITHM FOR THE VEHICLE ACTUATION TIME-LATENCY


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

    Erscheinungsdatum :

    2021-10-21


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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