Drifting correction between planning stage and controlling stage of operating autonomous driving vehicles
US11377119B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | May 18, 2018 |
| Grant date | Jul 5, 2022 |
| Priority date | — |
| Expiry date | Feb 16, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/9324
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In one embodiment, a lateral drifting error is determined based on at least a current location of an ADV. The lateral drifting error is segmented into a first drifting error and a second drifting error using a predetermined segmentation algorithm. A planning module plans a path or trajectory for a current driving cycle (e.g., planning cycle) to drive the ADV from the current location for a predetermined period of time. The planning module performs a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory based on the first drifting error to generate a modified trajectory. A control module controls the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.