Data-based control error detection and parameter compensation system

Patent metadata

Field	Value
Publication number	US-10474157-B2
Application number	US-201715615378-A
Country	US
Kind code	B2
Filing date	Jun 6, 2017
Priority date	Jun 6, 2017
Publication date	Nov 12, 2019
Grant date	Nov 12, 2019

Abstract

State of an autonomous driving vehicle (ADV) is measured and stored for a location and speed of the ADV. Later, the state of the ADV is measured for the location and speed corresponding to a previously stored state of the ADV at the same location and speed. Fields of the measured stored states of the ADV are compared. If one or more differences between the measured and stored ADV states exceeds a threshold, then one or more control input parameters of the ADV is adjusted, such as steering, braking, or throttle. Differences may be attributable to road conditions or to state of servicing of the ADV. Differences between measured and stored states of the ADV can be passed to a service module. Service module can access crowd sourced data to determine whether one or more control input parameters for a driving state of one or more ADVs should be updated.

First claim

What is claimed is:

1. A computer-implemented method of operating an autonomous driving vehicle (ADV), the method comprising:
measuring, for a time t 0 , a first state of the ADV, wherein the first state comprises at least a speed and a location of the ADV and a plurality of control inputs that control the navigation of the ADV;
accessing a state database indexed by at least the speed and the location of the ADV in the first state for the time t 0 , to retrieve a record of a stored first state of the ADV corresponding to the measured first state at time t 0 , and to retrieve a record of a stored second state of the ADV corresponding to a time t 1 =t 0 +Δt, wherein Δt is a predetermined time increment;
measuring a real-time second state of the ADV corresponding to the time t 1 ;
comparing one or more fields of the retrieved stored second state for the time t 1 with the measured real-time second state of the ADV for the time t 1 ;
in response to determining that a difference between one or more fields of the retrieved stored second state and corresponding one or more fields of the measured real-time second state is greater than a threshold value, adjusting one or more control input parameters of the ADV.

2. The method claim 1 , wherein the first state, the stored first state, the stored second state, and real-time second state each comprise one or more of: a location of the ADV, a speed of the ADV, a heading of the ADV, a pitch of the ADV, a roll of the ADV, control input for brakes, control input for throttle, or control input for steering.

3. The method of claim 2 , wherein a brake control input parameter of the stored second state is within a threshold tolerance of a measured real-time state brake control input parameter, and the method further comprises one of:
increasing the brake control input parameter in response to determining that the measured real-time state speed is greater than the second state speed by at least a speed error value; or
decreasing the brake control input parameter in response to determining that the measured real-time speed is less than the second state speed by at least the speed error value.

4. The method of claim 2 , wherein a steering control input parameter of the stored second state is within a threshold tolerance of a measured real-time state steering control input parameter, and the method further comprises one of:
increasing the steering control input parameter in response to determining that the measured real-time state heading is less than the second state heading (under-steer) by at least a steering error value; or
decreasing the steering control input parameter in response to determining that the measured real-time state heading is greater than the second state heading value (over-steer) by at least the steering error value.

5. The method of claim 2 , wherein a throttle control input parameter of the stored second state is within a threshold tolerance of a measured real-time state throttle input parameter, and the method further comprises one of:
increasing the throttle control input parameter in response to determining the measured real-time state speed is less than the speed in the second state by a speed error value; or
decreasing the throttle input parameter in response to determining that the measured real-time state speed is greater than the speed in the second state by the speed error value.

6. The method of claim 1 , further comprising issuing an alert that one or more sub-systems of the ADV that respond to one or more ADV control inputs, are in need of adjustment or repair.

7. The method of claim 1 , further comprising:
in response to determining that the record of the stored second state corresponding to the time t 1 does not exist in the state database, storing the measured real-time second state of the ADV corresponding to the time t 1 in the state database in association with the stored first state of the ADV corresponding to the time t 0 .

8. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
measuring, at time t 0 , a first state of an ADV, wherein the first state comprises at least a speed and a location of the ADV and a plurality of control inputs that control the navigation of the ADV;
accessing a state database indexed by at least the speed and the location of the ADV in the first state for the time t 0 , to retrieve a record of a stored second state of the ADV corresponding to the measured first state at time t 0 , and to retrieve a record of a stored second state of the ADV corresponding to a time t 1 =t 0 +Δt, wherein Δt is a predetermined time increment;
measuring a real-time second state of the ADV corresponding to the time t 1 ;
comparing one or more fields of the retrieved stored second state for the time t 1 with the measured real-time second state of the ADV for the time t 1 ;
in response to determining that a difference between one or more fields of the retrieved stored second state and corresponding one or more fields of the measured real-time second state is greater than a threshold value, adjusting one or more control input parameters of the ADV.

9. The medium claim 8 , wherein the first state, the stored first state, the stored second state, and real-time second state each comprise one or more of: a location of the ADV, a speed of the ADV, a heading of the ADV, a pitch of the ADV, a roll of the ADV, control input for brakes, control input for throttle, or control input for steering.

10. The medium of claim 9 , wherein a brake control input parameter of the stored second state is within a threshold tolerance of a measured real-time state brake control input parameter, and the operations further comprise one of:
increasing the brake control input parameter in response to determining that the measured real-time state speed is greater than the second state speed by at least a speed error value; or
decreasing the brake control input parameter in response to determining that the measured real-time speed is less than the second state speed by at least the speed error value.

11. The medium of claim 9 , wherein a steering control input parameter of the stored second state is within a threshold tolerance of a measured real-time state steering control input parameter, and the operations further comprise one of:
increasing the steering control input parameter in response to determining that the measured real-time state heading is less than the second state heading (under-steer) by at least a steering error value; or
decreasing the steering control input parameter in response to determining that the measured real-time state heading is greater than the second state heading value (over-steer) by at least the steering error value.

12. The medium of claim 9 , wherein a throttle control input parameter of the stored second state is within a threshold tolerance of a measured real-time state steering throttle input parameter, and the operations further comprise one of:
increasing the throttle control input parameter in response to determining the measured real-time state speed is less than the speed in the second state by a speed error value; or
decreasing the throttle input parameter in response to determining that the measured real-time state speed is greater than the speed in the second state by the speed error value.

13. The medium of claim 8 , the operations further comprising issuing an alert that one or more sub-systems of the ADV that respond to one or more ADV control inputs, are in need of adjustment or repair.

14. The

Assignees

• Baidu Usa Llc

Inventors

• Yu Xiang
• Kong Qi
• Luo Qi
• Zhu Fan
• Hu Sen
• Yang Guang
• Wang Jingao

Classifications

• B60W30/14

  {Adaptive} cruise control · CPC title

• B60W2050/0028

  Mathematical models, e.g. for simulation · CPC title

• B60W30/1882

  characterised by the working point of the engine, e.g. by using engine output chart · CPC title

• B60W30/188

  Controlling power parameters of the driveline, e.g. determining the required power · CPC title

• B60W30/02

  Control of vehicle driving stability · CPC title