Static-state curvature error compensation control logic for autonomous driving vehicles

Patent metadata

Field	Value
Publication number	US-11518404-B2
Application number	US-202016826707-A
Country	US
Kind code	B2
Filing date	Mar 23, 2020
Priority date	Mar 23, 2020
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

In one embodiment, static-state curvature error compensation control logic for autonomous driving vehicles (ADV) receives planning and control data associated with the ADV, including a planned steering angle and a planned speed. A steering command is generated based on a current steering angle and the planned steering angle of the ADV. A throttle command is generated based on the planned speed in view of a current speed of the ADV. A curvature error is calculated based on a difference between the current steering angle and the planned steering angle. The steering command is issued to the ADV while withholding the throttle command, in response to determining that the curvature error is greater than a predetermined curvature threshold, such that the steering angle of the ADV is adjusted in view of the planned steering angle without acceleration.

First claim

What is claimed is:

1. A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
receiving planning and control data associated with the ADV, including a planned steering angle and a planned speed;
generating a steering command based on a current steering angle and the planned steering angle of the ADV;
generating a throttle command based on the planned speed in view of a current speed of the ADV;
calculating a curvature error based on a difference between the current steering angle and the planned steering angle; and
issuing the steering command to the ADV while withholding the throttle command, in response to determining that the curvature error is greater than a predetermined curvature threshold, such that the current steering angle of the ADV is adjusted in view of the planned steering angle without acceleration.

2. The method of claim 1 , further comprising:
determining whether the curvature error drops below the predetermined curvature threshold after issuing the steering command; and
issuing the throttle command to the ADV in response to determining that the curvature error is below the predetermined curvature threshold.

3. The method of claim 1 , further comprising:
determining a heading error based on a difference between a current heading of the ADV and a planned heading obtained from the planning and control data; and
modifying the steering command based on the heading error to compensate the heading error, while withholding the throttle command.

4. The method of claim 3 , further comprising determining whether the heading error is greater than a predetermined heading threshold, wherein the steering command is modified in response to determining that the heading error is greater than the predetermined heading threshold.

5. The method of claim 3 , wherein the steering command is modified based on the heading error and the current speed of the ADV.

6. The method of claim 1 , wherein the curvature error is detected when the current steering angle associated with at least front wheels of the ADV does not match the planned steering angle.

7. The method of claim 1 , wherein the predetermined curvature threshold is determined based on the current speed of the ADV.

8. The method of claim 1 , further comprising determining whether the current speed of the ADV is below a predetermined speed threshold, wherein the steering command is issued while withholding the throttle command in response both to determining that the curvature error is greater than the predetermined curvature threshold and to determining that the current speed of the ADV is below the predetermined speed threshold.

9. 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 planning and control data associated with an autonomous driving vehicle ADV, including a planned steering angle and a planned speed;
generating a steering command based on a current steering angle and the planned steering angle of the ADV;
generating a throttle command based on the planned speed in view of a current speed of the ADV;
calculating a curvature error based on a difference between the current steering angle and the planned steering angle; and
issuing the steering command to the ADV while withholding the throttle command, in response to determining that the curvature error is greater than a predetermined curvature threshold, such that the current steering angle of the ADV is adjusted in view of the planned steering angle without acceleration.

10. The machine-readable medium of claim 9 , wherein the operations further comprise:
determining whether the curvature error drops below the predetermined curvature threshold after issuing the steering command; and
issuing the throttle command to the ADV in response to determining that the curvature error is below the predetermined curvature threshold.

11. The machine-readable medium of claim 9 , wherein the operations further comprise:
determining a heading error based on a difference between a current heading of the ADV and a planned heading obtained from the planning and control data; and
modifying the steering command based on the heading error to compensate the heading error, while withholding the throttle command.

12. The machine-readable medium of claim 11 , wherein the operations further comprise determining whether the heading error is greater than a predetermined heading threshold, wherein the steering command is modified in response to determining that the heading error is greater than the predetermined heading threshold.

13. The machine-readable medium of claim 11 , wherein the steering command is modified based on the heading error and the current speed of the ADV.

14. The machine-readable medium of claim 9 , wherein the curvature error is detected when the current steering angle associated with at least front wheels of the ADV does not match the planned steering angle.

15. The machine-readable medium of claim 9 , wherein the predetermined curvature threshold is determined based on the current speed of the ADV.

16. The machine-readable medium of claim 9 , wherein the operations further comprise determining whether the current speed of the ADV is below a predetermined speed threshold, wherein the steering command is issued while withholding issuing the throttle command in response both to determining that the curvature error is greater than the predetermined curvature threshold and to determining that the current speed of the ADV is below the predetermined speed threshold.

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 planning and control data associated with an autonomous driving vehicle ADV, including a planned steering angle and a planned speed;
generating a steering command based on a current steering angle and the planned steering angle of the ADV;
generating a throttle command based on the planned speed in view of a current speed of the ADV;
calculating a curvature error based on a difference between the current steering angle and the planned steering angle; and
issuing the steering command to the ADV while withholding the throttle command, in response to determining that the curvature error is greater than a predetermined curvature threshold, such that the current steering angle of the ADV is adjusted in view of the planned steering angle without acceleration.

18. The system of claim 17 , wherein the operations further comprise:
determining whether the curvature error drops below the predetermined curvature threshold after issuing the steering command; and
issuing the throttle command to the ADV in response to determining that the curvature error is below the predetermined curvature threshold.

19. The system of claim 17 , wherein the operations further comprise:
determining a heading error based on a difference between a current heading of the ADV and a planned heading obtained from the planning and control data; and
modifying the steering command based on the heading error to compensate the heading error, while withholding the throttle command.

20. The system of claim 19 , wherein the operations further comprise determining whether the heading error is greater than a predetermined heading threshold, wherein the

Assignees

• Baidu Usa Llc

Inventors

• Wang Yu
• Luo Qi
• Zhou Jinyun
• Jiang Shu
• Xu Jiaxuan
• Miao Jinghao
• Hu Jiangtao

Classifications

• B60W2710/207

  Steering angle of wheels · CPC title

• B60W30/18054

  at stand still, e.g. engine in idling state (hill holding B60W30/18118) · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W2720/106

  Longitudinal acceleration · CPC title