In one embodiment, planning data is received, for example, from a planning module, to drive an autonomous driving vehicle (ADV) from a starting location and a destination location. In response, a series of control commands are generated based on the planning data, where the control commands are to be applied at different points in time from the starting location to the destination location. A cost is calculated by applying a cost function to the control commands, a first road friction to be estimated in a current trip, and a second road friction estimated during a prior trip from the starting location to the destination location. The first road friction of the current trip is estimated using the cost function in view of a prior termination cost of the prior trip, such that the cost reaches minimum.


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    Title :

    METHOD AND SYSTEM FOR DETERMINING ROAD FRICTIONS OF AUTONOMOUS DRIVING VEHICLES USING LEARNING-BASED MODEL PREDICTIVE CONTROL


    Additional title:

    VERFAHREN UND SYSTEM ZUR ERMITTLUNG VON FAHRBAHNREIBUNGEN AUTONOM FAHRENDER FAHRZEUGE MIT LERNBASIERTER MODELLPRÄDIKTIVER STEUERUNG
    PROCÉDÉ ET SYSTÈME POUR DÉTERMINER LES FROTTEMENTS DE ROUTE DE VÉHICULES À CONDUITE AUTONOME À L'AIDE D'UNE COMMANDE PRÉDICTIVE DE MODÈLE BASÉE SUR L'APPRENTISSAGE


    Contributors:
    ZHU FAN (author) / LUO QI (author) / HU SEN (author) / KONG QI (author) / YU XIANG (author) / ZHU ZHENGUANG (author) / PAN YUCHANG (author) / YANG WENLI (author) / YANG GUANG (author)

    Publication date :

    2022-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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    Free access

    ROAD SURFACE FRICTION BASED PREDICTIVE DRIVING FOR COMPUTER ASSISTED OR AUTONOMOUS DRIVING VEHICLES

    NISHI YOSHIFUMI / PIDWERBECKI DAVID / BROWNING DAVID et al. | European Patent Office | 2020

    Free access