Low-speed, backward driving vehicle controller design

US11377112B2 · 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
• Runxin He · Sunnyvale, US
• Jiaxuan Xu · Sunnyvale, US

Key dates

• Filing date: Nov 13, 2019
• Grant date: Jul 5, 2022
• Expiry date: Apr 8, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2556/00
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Generating control effort to control an autonomous driving vehicle (ADV) includes determining a direction (forward or reverse) in which the ADV is driving and selecting a driving model and a predictive model based upon the direction. In a forward direction, the driving model is a dynamic model, such as a “bicycle model,” and the predictive model is a look-ahead model. In a reverse direction, the driving model is a hybrid dynamic and kinematic model and the predictive model is a look-back model. Current and predicted lateral error and heading error are determined using the driving model and predictive model, respectively. A linear quadratic regulator (LQR) uses the current and predicted lateral error and heading errors to determine a first control effort An augmented control logic determines a second, additional, control effort, to determine a final control effort that is output to a control module to drive the ADV.