Embodiments disclose a system and method to generate smooth steering commands for an autonomous driving vehicle (ADV). According to one embodiment, a system determines a planning steering command based on a driving trajectory of an ADV. The system receives a current steering feedback from a sensor of the ADV for a current planning cycle. The system generates one or more smooth steering commands based on the planning steering command and the current steering feedback over one or more planning cycles. The system controls the ADV based on the one or more smooth steering commands so a change in steering applied to the ADV for any planning cycle is within a predetermined steering change threshold for the ADV. That way, the system applies incremental changes for the steering of the ADV.
AN INCREMENTAL LATERAL CONTROL SYSTEM USING FEEDBACKS FOR AUTONOMOUS DRIVING VEHICLES
INKREMENTELLES SEITLICHES STEUERUNGSSYSTEM MIT RÜCKKOPPLUNGEN FÜR AUTONOM FAHRENDE FAHRZEUGE
SYSTÈME DE CONTRÔLE LATÉRAL INCRÉMENTIEL UTILISANT DES RÉTROACTIONS POUR VÉHICULES AUTONOMES
2023-12-27
Patent
Electronic Resource
English
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