Automatic steering control reference adaption to resolve understeering of autonomous driving vehicles

US10421463B2 · kind B2 · utility

Assignees

• BAIDU USA LLC · US
• BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. · CN

Inventors

• Qi Luo · Sunnyvale, US
• Qi Kong · Sunnyvale, US
• Fan Zhu · Sunnyvale, US
• Sen Hu · Sunnyvale, US
• Xiang Yu · Nanhu, CN
• Zhenguang Zhu · Beijing, CN
• Yuchang Pan · Beijing, CN
• Jiarui He · Beijing, CN
• Haoyang Fan · Redwood City, US
• Guang Yang · Sunnyvale, US
• Jingao Wang · Sunnyvale, US

Key dates

• Filing date: Mar 10, 2017
• Grant date: Sep 24, 2019
• Expiry date: Dec 6, 2037

Classification

• Technology area (CPC G): Physics
• CPC primary: G01M1/12
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

In one embodiment, a request is received to turn the autonomous driving vehicle (ADV) from a first direction to a second direction. In response to the request, a number of segment masses of a number of segments of the ADV are determined. The segment masses are located on a plurality of predetermined locations within a vehicle platform of the ADV. A location of a mass center for an entire ADV is calculated based on the segment masses of the segments of the ADV, where the mass center represents a center of an entire mass of the entire ADV. A steering control command based on the location of the mass center of the entire ADV for steering control of the ADV.