Autonomous vehicle actuation dynamics and latency identification

US11167770B2 · kind B2 · utility

Assignee

• BAIDU USA LLC · US

Inventors

• Yu Wang · Sunnyvale, US
• Qi Luo · Sunnyvale, US
• Shu Jiang · Sunnyvale, US
• Jinghao Miao · Sunnyvale, US
• Jiangtao Hu · Sunnyvale, US
• Jingao Wang · Sunnyvale, US
• Jinyun Zhou · Sha Tin, CN
• Jiaxuan Xu · Sunnyvale, US

Key dates

• Filing date: Feb 13, 2020
• Grant date: Nov 9, 2021
• Expiry date: May 3, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2556/05
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.