Autonomous Vehicle Command Delay Determination
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional motion planning and control systems for autonomous vehicles do not accurately account for differences in vehicle types, leading to potential inaccuracies and inefficiencies in navigation and speed control, particularly in determining command delays between issuing commands and vehicle responses.
Innovation Solution
A computer-implemented method to determine command delays for autonomous vehicles by calculating the percentage of conforming responses to driving commands based on captured driving statistics, selecting the highest percentage candidate as the command delay, and using this information for subsequent operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If same motion planning and control is applied to all types of vehicles, then the system complexity is reduced, but the accuracy and smoothness of navigation deteriorates
Solution Approach 1:
The patent applies local quality by determining command delay parameters specific to each vehicle type rather than using a universal parameter for all vehicles. The system categorizes vehicles into different types (e.g., heavy-duty vs. light-duty) and assigns tailored command delay values to each category, ensuring that each vehicle type receives customized control parameters optimized for its specific characteristics.
2Measurement precision
If command delay parameters are determined based on vehicle type, then the accuracy of speed control is improved, but the device complexity increases
Solution Approach 1:
The patent implements parameter changes by adjusting command delay parameters based on vehicle type characteristics. The system modifies the command delay parameter (a key control parameter) according to the specific vehicle type, allowing the motion planning and control system to adapt its behavior to match the dynamic characteristics of different vehicles without requiring complete system redesign.
3Device complexity
If conventional motion planning estimates path difficulty only from curvature and speed, then the calculation simplicity is maintained, but the planning accuracy for different vehicle types deteriorates
Solution Approach 1:
The patent applies preliminary action by pre-determining command delay parameters for different vehicle types before actual motion execution. The system performs preliminary characterization of vehicle types and establishes appropriate command delay values in advance, so that during actual operation, the planning system can directly apply these pre-determined parameters without complex real-time calculations, thereby maintaining calculation simplicity while improving accuracy.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
In one embodiment, driving statistics of an autonomous vehicle are collected. The driving statistics include driving commands, speeds, and changes of speeds in response to the driving commands at different points in time represented by one or more command cycles. Command delay candidates for the autonomous vehicle are determined, each of the command delay candidates represented by one or more command cycles. For each of the command delay candidates, a percentage is calculated for driving commands that resulted in a response of the autonomous vehicle conforming to the driving commands associated with the command delay candidate. One of the command delay candidates having the highest percentage of conformity is selected as the command delay for the autonomous vehicle. The command delay is utilized to plan and control subsequent operations of the autonomous vehicle.