In one embodiment, a number of steering rate candidates are determined for a steering control command of operating an autonomous vehicle. For each of the steering rate candidates, a steering rate cost is calculated for the steering rate candidate by applying a predetermined cost function, including calculating a first cost for the steering rate candidate based on a difference between a target steering position and a current steering position of the autonomous vehicle using a first predetermined cost function. One of the steering rate candidates having a lowest steering rate cost is selected as a target steering rate. A steering control command is generated based on the selected steering rate candidate to control a steering wheel of the autonomous vehicle.
METHOD TO DYNAMICALLY ADJUSTING STEERING RATES OF AUTONOMOUS VEHICLES
2018-05-24
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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