Learning based controller for autonomous driving

US11814073B2 · kind B2 · utility

Assignee

• BAIDU USA LLC · US

Inventors

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

Key dates

• Filing date: Mar 18, 2020
• Grant date: Nov 14, 2023
• Expiry date: Apr 28, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2050/0088
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

In one embodiment, a control command is generated with an MPC controller, the MPC controller including a cost function with weights associated with cost terms of the cost function. The control command is applied to a dynamic model of an autonomous driving vehicle (ADV) to simulate behavior of the ADV. One or more of the weights are based on evaluation of the dynamic model in response to the control command, resulting in an adjusted cost function of the MPC controller. Another control command is generated with the MPC controller having the adjusted cost function. This second control command can be used to effect movement of the ADV.