Reference Adaptation for Automatic Steering Control to Address Understeer in Autonomous Vehicles

Abstract

In one embodiment, a request to turn an autonomous vehicle (ADV) from a first direction to a second direction is received. In response to the request, a plurality of segment qualities for a plurality of segments of the ADV are determined. The segment masses are positioned at a plurality of predetermined locations within the vehicle platform of the ADV. The location of the center of mass of the entire ADV is calculated based on the section mass of the section of the ADV, where the center of mass represents the center of the entire mass of the entire ADV. Steering control commands for steering control of the ADV are generated based on the location of the center of mass of the entire ADV.

Description

technical field [0001] Embodiments of the invention generally relate to operating an autonomous vehicle. More specifically, embodiments of the invention relate to steering control of autonomous vehicles to reduce understeer. Background technique [0002] A vehicle operating in an autonomous mode (eg, driverless) can relieve the occupants, especially the driver, of certain driving-related duties. When operating in autonomous mode, the vehicle can use on-board sensors to navigate to various locations, 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, including speed control and steering control of autonomous vehicles (ADV). In conventional steering control of ADV, the rear axle is used as the control reference for steering. Typically, a Global Positioning System (GPS) sensor or receiver is positioned near the rear axle, and the rear axle is cons...

AI Technical Summary

Problems solved by technology

Steering at the front of the vehicle may be delayed, and the vehicle may overcorrect this understeer afterwards

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