자율 주행 차량(ADV)에서 제어 서브시스템(예를 들면, 스로틀, 제동 또는 조향)에서 2 차 동적 지연을 줄이기 위한 시스템 및 방법이 개시된다. 제어 입력은 ADV 인식 및 계획 시스템에서 수신된다. 제어 입력은 제어 명령에서 ADV의 제어 서브시스템으로 변환된다. 참조 작동 출력은 ADV의 저장소에서 획득된다. 참조 작동 출력은 제어 서브시스템 액추에이터에 기인한 2차 작동 동적 지연을 설명하는 평활화된 출력이다. 제어 입력과 참조 작동 출력의 차이에 따라 적응형 이득이 결정되고 입력 제어 신호에 적용하여 제어 출력과 참조 작동 출력 간의 오차를 줄인다.
A method and system for actuating a control subsystem of an autonomous driving vehicle (ADV) control system are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle. A control input is received from an ADV perception and planning system. The control input is translated in a control command to a control subsystem of the ADV. A reference actuation output is obtained from a storage of the ADV. The reference actuation output is a smoothed output that accounts for second order actuation dynamic delays attributable to the control subsystem actuator. Based on a difference between the control input and the reference actuation output, adaptive gains are determined and applied to the input control signal to reduce error between the control output and the reference actuation output.
MODEL REFERENCE ADPTIVE CONTROL ALGORITHM TO ADDRESS THE VEHICLE ACTUATION DYNAMICS
차량 작동 역학을 해결하기 위한 모델 참조 적응형 제어 알고리즘
2022-10-26
Patent
Electronic Resource
Korean
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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