Systems and methods for optimizing values of an adjustable parameter set of an autonomous driving vehicle (ADV) are disclosed. The controller may be a linear secondary regulator, a "bicycle model", a model reference adaptive controller (MRAC) that reduces actuation latency in a control subsystem, such as steering, braking, and accelerator, or other controller. The optimizer selects an adjustable parameter set for the controller. A task allocation system pairs each parameter set with each of a plurality of simulated driving scenarios and dispatches tasks to a simulator to perform simulation with the parameter sets. Each simulation is scored. Weighted scores are generated from the simulation. For a fixed number of iterations, the optimizer uses a weighted score as a target for a next iteration of the optimizer. A physical real world ADV is navigated using an optimized parameter set of a controller in the ADV.
公开了用于优化自动驾驶车辆(ADV)的可调参数集的值的系统和方法。控制器可以是线性二次调节器、“自行车模型”、减少控制子系统(诸如转向、制动和油门)中的致动等待时间的模型参考自适应控制器(MRAC)、或其它控制器。优化器为控制器选择可调参数集。任务分配系统对将每个参数集与多个模拟驾驶场景中的每一个配对,并将任务分派到模拟器以用参数集执行模拟。对每个模拟进行评分。从模拟中产生加权分数。对于固定次数的迭代,优化器使用加权分数作为目标以进行优化器的下一次迭代。使用ADV中的控制器的优化参数集来导航物理真实世界的ADV。
Automatic parameter adjustment frame for controller used in autonomous vehicle
用于自动驾驶车辆中使用的控制器的自动参数调整框架
2022-04-12
Patent
Electronic Resource
Chinese
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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