Model reference adaptive control algorithm to address the vehicle actuation dynamics

US11492008B2 · 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 21, 2020
• Grant date: Nov 8, 2022
• Expiry date: Jul 15, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2050/0037
• WIPO field: Transport
• WIPO sector: Mechanical 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). A control input is received from an ADV perception and planning system. The control input is translated in a control command to a control subsystem of the ADV. A reference actuation output is obtained from a storage of the ADV. The reference actuation output is a smoothed output that accounts for second order actuation dynamic delays attributable to the control subsystem actuator. Based on a difference between the control input and the reference actuation output, adaptive gains are determined and applied to the input control signal to reduce error between the control output and the reference actuation output.