Method and system for determining road frictions of autonomous driving vehicles using learning-based model predictive control
US10407076B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 13, 2017 |
| Grant date | Sep 10, 2019 |
| Priority date | — |
| Expiry date | Aug 7, 2037 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/50
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In one embodiment, planning data is received, for example, from a planning module, to drive an autonomous driving vehicle (ADV) from a starting location and a destination location. In response, a series of control commands are generated based on the planning data, where the control commands are to be applied at different points in time from the starting location to the destination location. A cost is calculated by applying a cost function to the control commands, a first road friction to be estimated in a current trip, and a second road friction estimated during a prior trip from the starting location to the destination location. The first road friction of the current trip is estimated using the cost function in view of a prior termination cost of the prior trip, such that the cost reaches minimum.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.