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Method and system for determining unity gain for speed control of an autonomous vehicle

A technology of speed control and automatic driving, applied in the direction of vehicle position/route/height control, control/regulation system, non-electric variable control, etc., which can solve difficult and time-consuming problems

Active Publication Date: 2021-04-27
BAIDU USA LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, gathering throttle and braking behavior information and determining unity gain is difficult and time-consuming

Method used

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  • Method and system for determining unity gain for speed control of an autonomous vehicle
  • Method and system for determining unity gain for speed control of an autonomous vehicle
  • Method and system for determining unity gain for speed control of an autonomous vehicle

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Embodiment Construction

[0018] Various embodiments and aspects of the invention will be described with reference to details discussed below and illustrated in the accompanying drawings. The following description and drawings are illustrative of the present invention and should not be construed as limiting the present invention. Numerous specific details are described in order to provide a thorough understanding of various embodiments of the invention. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the invention.

[0019] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase "in one embodiment" in various places in this specification are not necessarily all referring to the same embodimen...

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Abstract

In one embodiment, the speed of an autonomous vehicle (ADV) is captured in response to a series of speed control commands issued at different points in time represented by a series of command cycles. For each command period, a first speed change rate is calculated based on the corresponding speed of the ADV, and a second speed change rate is calculated based on the corresponding speed and the corresponding speed control command using a predetermined algorithm or function. A unit gain of speed control is determined using a cost function based on the first speed change rate and the second speed change rate such that a cost representing a difference between the first speed change rate and the second speed change rate reaches a minimum value. Unity gain is then used to generate subsequent speed control commands for operating the ADV.

Description

technical field [0001] Embodiments of the invention generally relate to operating an autonomous vehicle. More specifically, embodiments of the invention relate to determining a unity gain for speed control of an autonomous vehicle. Background technique [0002] Vehicles operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, from some driving-related duties. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to drive with minimal human interaction or in some cases without any passengers. [0003] Motion planning and control are key operations in autonomous driving. However, traditional motion planning operations mainly estimate the difficulty of completing a given path based on the curvature and speed of autonomous driving, without considering the characteristic differences of different types of vehicles. Applying the same motion planning and control to al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223B60W30/143B60K2310/244B60W2720/10B60K2310/24B60K31/00B60W2556/55B60W2556/10B60W2050/0075B60W2556/45
Inventor 朱帆
Owner BAIDU USA LLC