Vehicle Delay Compensator for Autonomous Control
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining accurate control due to time delays between command generation and execution, leading to outdated control decisions that can affect vehicle trajectory and stability, especially at higher speeds.
Innovation Solution
A delay compensator system that predicts the vehicle's pose at a future time aligning with command execution, using a buffer of previous commands and a motion model to generate updated control commands, thereby compensating for delays in both lateral and longitudinal control systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real-time control commands are generated and executed without delay compensation, then the control system operates simply and quickly, but the control accuracy deteriorates due to time delays between command generation and execution
Solution Approach 1:
The system performs preliminary actions by predicting the vehicle's future pose at the time when control commands will be executed. The delay compensator calculates predicted pose data based on current pose and control commands, then uses this predicted information to generate accurate control commands that account for the known time delay in the control system.
2Measurement precision
If delay compensation is implemented to improve control accuracy, then control precision is improved, but computational complexity and processing time increase
Solution Approach 1:
The delay compensator performs preliminary calculations of the predicted vehicle pose at the time of command execution, using the known control delay and current vehicle state. This allows the system to generate accurate control commands without requiring complex real-time iterative optimization during the control cycle.
3Ease of operation
If control commands are generated based on current vehicle pose, then the control system is simple and responsive, but the control decisions become outdated by the time they are executed
Solution Approach 1:
The system performs preliminary prediction of the vehicle's future pose at the time when control commands will be executed. By calculating the predicted pose based on current pose and the known control delay, the system generates control commands that are accurate for the future execution time rather than being based on outdated current state information.
4Reliability
If the control system accounts for time delays in command execution, then control reliability is improved, but the system complexity increases due to additional processing requirements
Solution Approach 1:
The delay compensator performs preliminary calculations of the predicted vehicle pose at the time of command execution, using the known control delay and current vehicle state. This approach improves control reliability by ensuring commands are accurate for their execution time while avoiding the need for complex real-time iterative optimization algorithms.
Data Source
AI summary
Systems and methods are directed to compensating for time delays. In one example, a system includes one or more processors and memory including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include obtaining first pose data indicative of a pose of a vehicle; obtaining first control data indicative of a first vehicle control command that has yet to affect control of the vehicle; determining, based at least partially on the first pose data and the first control data, predicted pose data indicative of an estimate of a pose of the vehicle that will result after the vehicle control command affects control of the vehicle; and generating, based at least partially on the predicted pose data, second control data indicative of a second vehicle control command to be applied subsequent to the first vehicle control command.