Extended model reference adaptive control algorithm for the vehicle actuation time-latency
US11453409B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 21, 2020 |
| Grant date | Sep 27, 2022 |
| Priority date | — |
| Expiry date | Nov 1, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D15/025
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Systems and methods are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle (ADV) and increasing control system bandwidth by accounting for time-latency in a control subsystem actuation system. A control input is received from an ADV's autonomous driving system. The control input is translated into a control command of the control subsystem of the ADV. A reference actuation output and a predicted actuation output are generated corresponding to a by-wire (“real”) actuation action for the control subsystem. A control error is determined between the reference actuation action and the by-wire actuation action. A predicted control error is determined between the predicted actuation action and the between the by-wire actuation action. Adaptive gains are determined and applied to the by-wire actuation action to generate a second by-wire actuation action.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.