In one embodiment, a lateral drifting error is determined based on at least a current location of an ADV. The lateral drifting error is segmented into a first drifting error and a second drifting error using a predetermined segmentation algorithm. A planning module plans a path or trajectory for a current driving cycle (e.g., planning cycle) to drive the ADV from the current location for a predetermined period of time. The planning module performs a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory based on the first drifting error to generate a modified trajectory. A control module controls the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.


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    Title :

    Drifting correction between planning stage and controlling stage of operating autonomous driving vehicles


    Contributors:
    ZHU FAN (author) / XU XIN (author) / KONG QI (author) / PAN YUCHANG (author) / JIANG FEIYI (author) / ZHANG LIANGLIANG (author) / TAO JIAMING (author) / FAN HAOYANG (author) / JIANG HUI (author)

    Publication date :

    2022-07-05


    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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    ZHU FAN / XU XIN / KONG QI et al. | European Patent Office | 2021

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