Speed control command auto-calibration system for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11214251-B2
Application number	US-201816078636-A
Country	US
Kind code	B2
Filing date	Jul 9, 2018
Priority date	Jul 9, 2018
Publication date	Jan 4, 2022
Grant date	Jan 4, 2022

Abstract

According to some embodiments, a system receives a first control command and a speed measurement of the ADV. The system determines an expected acceleration of the ADV based on the speed measurement and the first control command. The system receives an acceleration measurement of the ADV. The system determines a feedback error based on the acceleration measurement and the expected acceleration. The system updates a portion of the calibration table based on the determined feedback error. The system generates a second control command to control the ADV based on the calibration table having the updated portion to control the ADV autonomously according to the second control command.

First claim

What is claimed is:

1. A computer-implemented method to control an autonomous driving vehicle (ADV), the method comprising:
receiving a first control command and a speed measurement of the ADV;
determining an expected acceleration of the ADV based on the speed measurement and the first control command;
receiving an acceleration measurement of the ADV;
determining a feedback error based on the acceleration measurement and the expected acceleration;
updating a portion of a calibration table based on the determined feedback error, wherein the calibration table comprises a plurality of entries, each entry mapping a particular acceleration and a particular speed to a particular command;
performing a lookup operation in the updated calibration table based on the determined expected acceleration and the received speed measurement of the ADV to determine a second command; and
controlling the ADV autonomously according to the second control command.

2. The method of claim 1 , wherein the speed and acceleration measurement are performed by an inertial measurement unit (IMU) sensor of the ADV.

3. The method of claim 1 , wherein the expected acceleration is determined using the calibration table based on the speed measurement and the first control command.

4. The method of claim 1 , wherein updating the portion of the calibration table further comprises determining an update point situated on the calibration table based on the first control command and the speed measurement.

5. The method of claim 1 , wherein the calibration table is a two dimensional curve having table entries with coordinates of: control command and speed, and entry values are acceleration values for the corresponding coordinates.

6. The method of claim 5 , wherein the table entries are discretized entries.

7. The method of claim 5 , wherein the table entries are updated according to a spatial interpolation model.

8. The method of claim 7 , wherein the spatial interpolation model comprises an inverse distance weighting interpolation model.

9. The method of claim 4 , wherein a table entry at a distance d1 from the update point is updated based on a weighting factor of (1/d1)/(1/d1+1/d2+1/d3+1/d4), where d1, d2, d3, and d4 are distances of four surrounding entries respectively for a given acceleration.

10. The method of claim 1 , wherein determining the feedback error based on the acceleration measurement and the expected acceleration includes limiting the feedback error to a predetermined minimum/maximum.

11. The method of claim 1 , wherein generating the second control command comprises:
receiving a current speed of the ADV;
calculating an acceleration based on a planned speed and the current speed of the ADV;
determining the second control command using the calibration table based on the calculated acceleration and the received current speed of the ADV; and
generating the second control command.

12. 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:
receiving a first control command and a speed measurement of an autonomous driving vehicle (ADV);
determining an expected acceleration of the ADV based on the speed measurement and the first control command;
receiving an acceleration measurement of the ADV;
determining a feedback error based on the acceleration measurement and the expected acceleration;
updating a portion of a calibration table based on the determined feedback error, wherein the calibration table comprises a plurality of entries, each entry mapping a particular acceleration and a particular speed to a particular command;
performing a lookup operation in the updated calibration table based on the determined expected acceleration and the received speed measurement of the ADV to determine a second command; and
controlling the ADV autonomously according to the second control command.

13. The non-transitory machine-readable medium of claim 12 , wherein the speed and acceleration measurement are performed by an inertial measurement unit (IMU) sensor of the ADV.

14. The non-transitory machine-readable medium of claim 12 , wherein the expected acceleration is determined using the calibration table based on the speed measurement and the first control command.

15. The non-transitory machine-readable medium of claim 12 , wherein updating the portion of the calibration table further comprises determining an update point situated on the calibration table based on the first control command and the speed measurement.

16. The non-transitory machine-readable medium of claim 12 , wherein the calibration table is a two dimensional curve having table entries with coordinates of: control command and speed, and entry values are acceleration values for the corresponding coordinates.

17. A data processing system, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including:
receiving a first control command and a speed measurement of an autonomous driving vehicle (ADV);
determining an expected acceleration of the ADV based on the speed measurement and the first control command;
receiving an acceleration measurement of the ADV;
determining a feedback error based on the acceleration measurement and the expected acceleration;
updating a portion of a calibration table based on the determined feedback error, wherein the calibration table comprises a plurality of entries, each entry mapping a particular acceleration and a particular speed to a particular command;
performing a lookup operation in the updated calibration table based on the determined expected acceleration and the received speed measurement of the ADV to determine a second command; and
controlling the ADV autonomously according to the second control command.

18. The system of claim 17 , wherein the speed and acceleration measurement are performed by an inertial measurement unit (IMU) sensor of the ADV.

19. The system of claim 17 , wherein the expected acceleration is determined using the calibration table based on the speed measurement and the first control command.

20. The system of claim 17 , wherein updating the portion of the calibration table further comprises determining an update point situated on the calibration table based on the first control command and the speed measurement.

21. The system of claim 17 , wherein the calibration table is a two dimensional curve having table entries with coordinates of: control command and speed, and entry values are acceleration values for the corresponding coordinates.

Assignees

• Baidu Usa Llc
• Baidu Com Times Tech Beijing Co Ltd

Inventors

• Zhu Fan
• Kong Qi
• Ma Lin
• Jiang Hui
• Tao Jiaming
• Zhang Liangliang

Classifications

• B60W30/00

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title

• B60W30/143 Primary

  Speed control (B60W30/16 takes precedence) · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title

• G01C25/005

  initial alignment, calibration or starting-up of inertial devices · CPC title

• B60W50/00

  Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} · CPC title