Systems and methods are disclosed for optimizing values of a set of tunable parameters of an autonomous driving vehicle (ADV). The controllers can be a linear quadratic regular, a “bicycle model,” a model-reference adaptive controller (MRAC) that reduces actuation latency in control subsystems such as steering, braking, and throttle, or other controller (“controllers”). An optimizer selects a set tunable parameters for the controllers. A task distribution system pairs each set of parameters with each of a plurality of simulated driving scenarios, and dispatches a task to the simulator to perform the simulation with the set of parameters. Each simulation is scored. A weighted score is generated from the simulation. The optimizer uses the weighted score as a target objective for a next iteration of the optimizer, for a fixed number of iterations. A physical real-world ADV is navigated using the optimized set of parameters for the controllers in the ADV.


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    Titel :

    AUTOMATIC PARAMETER TUNING FRAMEWORK FOR CONTROLLERS USED IN AUTONOMOUS DRIVING VEHICLES


    Beteiligte:
    LIN WEIMAN (Autor:in) / CAO YU (Autor:in) / WANG YU (Autor:in) / LUO QI (Autor:in) / JIANG SHU (Autor:in) / XIAO XIANGQUAN (Autor:in) / LIN LONGTAO (Autor:in) / MIAO JINGHAO (Autor:in) / HU JIANGTAO (Autor:in)

    Erscheinungsdatum :

    31.03.2022


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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