In one embodiment, a request is received to turn the autonomous driving vehicle (ADV) from a first direction to a second direction. In response to the request, a number of segment masses of a number of segments of the ADV are determined. The segment masses are located on a plurality of predetermined locations within a vehicle platform of the ADV. A location of a mass center for an entire ADV is calculated based on the segment masses of the segments of the ADV, where the mass center represents a center of an entire mass of the entire ADV. A steering control command based on the location of the mass center of the entire ADV for steering control of the ADV.


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    Title :

    Automatic steering control reference adaption to resolve understeering of autonomous driving vehicles


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

    Publication date :

    2019-09-24


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01G Wägen , WEIGHING / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen



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