Real-Time Steering Calibration for Autonomous Vehicles
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Solution Overview
Problem
Conventional motion control systems for autonomous driving vehicles lack real-time feedback-based calibration of the steering system, leading to lateral control errors that degrade vehicle performance.
Innovation Solution
A method for determining lateral control errors in the steering system of autonomous driving vehicles using sensor data to generate and apply steering commands, ensuring the vehicle remains aligned with its current direction and compensates for road conditions and steering feedback stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional motion control operations are used without feedback-based real time calibration, then the system structure remains simple, but lateral control error accumulates and vehicle performance degrades
Solution Approach 1:
The patent implements feedback-based real time steering calibration by continuously monitoring steering feedback from sensors and comparing it against expected values. The system calculates lateral control errors based on this feedback and adjusts steering commands accordingly, creating a closed-loop control system that maintains accurate lateral positioning without requiring complex mechanical modifications
Solution Approach 2:
The steering calibration system performs self-correction by automatically detecting lateral control errors through sensor feedback and generating compensating steering commands without external intervention. The system uses its own operational data to identify and correct calibration drift, enabling autonomous maintenance of steering accuracy
2Measurement precision
If feedback-based real time steering calibration is implemented, then lateral control error is compensated and vehicle performance improves, but the system complexity increases
Solution Approach 1:
The patent introduces an intermediary calibration module that sits between the motion control system and the steering actuator. This module processes steering feedback from sensors, calculates lateral control errors, and generates compensating commands without requiring direct modification of the existing steering hardware, thereby maintaining measurement precision while limiting system complexity
Solution Approach 2:
The calibration system leverages existing sensors and control infrastructure to perform multiple functions including lateral error detection, calibration drift identification, and real-time steering adjustment. By making the control system multi-functional, the patent achieves high measurement precision without proportionally increasing device complexity
Data Source
AI summary
A lateral control error of a steering system of an ADV is determined, which includes iteratively performing following operations for a predetermined time period. Whether the ADV is moving within a predetermined proximity of a current moving direction is determined. Next, whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition is determined. Then, a first steering feedback of the ADV in response to a prior steering control command is measured. Thereafter, the lateral control error is determined based on at least a portion of the first steering feedback over the predetermined time period. Further, a steering command in view of the lateral control error of the steering system is generated. Finally, the steering command is applied to control the ADV to compensate the lateral control error of the steering system.