Predetermined calibration table-based vehicle throttle/brake assist system for level 2 autonomous vehicle
A technology of automatic driving and calibration table, applied in vehicle position/route/altitude control, control/adjustment system, two-dimensional position/course control and other directions, which can solve problems such as vehicle unresponsiveness and lack of effective compensation methods.
Active Publication Date: 2020-06-05
BAIDU USA LLC
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Problems solved by technology
However, in certain driving environments (e.g., adverse weather conditions, rolling roads), the vehicle may not respond to meet expectations
Lack of effective means of compensating for these situations
Method used
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[0020] Various embodiments and aspects of the disclosure 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 disclosure and should not be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.
[0021] 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 disclosure. Recitations of the phrase "in one embodiment" in various places in this specification do not necessarily all refer to the same embod...
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The present invention relates to a predetermined calibration table-based vehicle throttle / brake assist system for level 2 autonomous vehicle. In one embodiment, in response to a first control commandoriginated from a driver of an ADV, an expected acceleration of the ADV in response to the first control command is determined in view of a current speed of the ADV under the standard driving environment (e.g., dry road, flat road surface, normal tire pressure, zero load), one of the command calibration tables is selected based on a current driving environment of the ADV at the point in time, anda lookup operation is performed in the selected command calibration table to obtain a second control command based on the current speed and the expected acceleration of the ADV, and then the second control command is then issued to the ADV to control the ADV. As a result, the ADV would have reached the same acceleration under the current driving environment as if the ADV was driving in the standard driving environment.
Description
technical field [0001] Embodiments of the present disclosure generally relate to operating an autonomous vehicle. More specifically, embodiments of the present disclosure relate to L2 autonomous driving using a predetermined command calibration table. Background technique [0002] Vehicles operating in an autonomous mode (e.g., driverless) can free passengers (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 operate with minimal human interaction or in some situations 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 its curvature and velocity, without considering the characteristic differences of different types of vehicles. The same motion planning and control is applied...
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IPC IPC(8): G05D1/02
CPCG05D1/021G05D1/0212G05D1/0223G05D1/0221G05D1/0257G05D1/0278G05D1/027G05D1/0246G05D1/0276B60W2050/0026B60W30/143B60W30/12B60W2050/0088B60W2530/10B60W2540/165B60W2540/12B60W2540/10B60W10/184B60W10/20B60W10/04B60W2520/10B60W2520/105B60W2720/106B60W2555/20B60W2552/40B60W30/188B60W2552/15B60W2556/05B60W2556/10B60W2710/0666B60W2710/083B60W2710/182B60W2710/207B60W50/10B60W2050/0075B60W2552/00B60W40/02B60W50/00B60W2050/0083B60W2530/20B60W2900/00G05D1/0088
Inventor 朱帆
Owner BAIDU USA LLC