Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.


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    Title :

    Autonomous vehicle actuation dynamics and latency identification


    Contributors:
    WANG YU (author) / LUO QI (author) / JIANG SHU (author) / MIAO JINGHAO (author) / HU JIANGTAO (author) / WANG JINGAO (author) / ZHOU JINYUN (author) / XU JIAXUAN (author)

    Publication date :

    2021-11-09


    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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