Method and system for steering control of an autonomous vehicle using proportional, integral, and derivative (PID) controller
US10118639B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 24, 2016 |
| Grant date | Nov 6, 2018 |
| Priority date | — |
| Expiry date | Mar 28, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42033
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In one embodiment, an autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.