A lateral control error of a steering system of an ADV is determined, which includes iteratively performing following operations for a predetermined time period. Whether the ADV is moving within a predetermined proximity of a current moving direction is determined. Next, whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition is determined. Then, a first steering feedback of the ADV in response to a prior steering control command is measured. Thereafter, the lateral control error is determined based on at least a portion of the first steering feedback over the predetermined time period. Further, a steering command in view of the lateral control error of the steering system is generated. Finally, the steering command is applied to control the ADV to compensate the lateral control error of the steering system.
Feedback based real time steering calibration system
2023-08-01
Patent
Electronic Resource
English
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 |
Steering angle calibration method, feedback system thereof and vehicle
European Patent Office | 2023
|European Patent Office | 2024
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