Data-based control error detection and parameter compensation system

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• measuring, at time t0, a first state of an ADV, wherein the first state comprises at least a speed and a location of the ADV and a plurality of control inputs that control the navigation of the ADV;
• accessing a state database indexed by at least the speed and the location of the ADV in the first state for the time t0, to retrieve a record of a stored second state of the ADV corresponding to the measured first state at time t0, and to retrieve a record of a stored second state of the ADV corresponding to a time t1=t0+Δt, wherein Δt is a predetermined time increment;
• measuring a real-time second state of the ADV corresponding to the time t1;
• comparing one or more fields of the retrieved stored second state for the time t1 with the measured real-time second state of the ADV for the time t1;
• in response to determining that a difference between one or more fields of the retrieved stored second state and corresponding one or more fields of the measured real-time second state is greater than a threshold value, adjusting one or more control input parameters of the ADV.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including:
• measuring, at a time t0, a first state of an ADV, wherein the first state comprises at least a speed and a location of the ADV and a plurality of control inputs that control navigation of the ADV;
• accessing a state database indexed by at least the speed and the location of the ADV in the first state for the time t0, to retrieve a record of a stored first state of the ADV corresponding to the measured first state at time t0, and to retrieve a record of a stored second state of the ADV corresponding to a time t1=t0+Δt, wherein Δt is a predetermined time increment;
• measuring a real-time second state of the ADV corresponding to the time t1;
• comparing one or more fields of the retrieved stored second state for the time t1 with the measured real-time second state of the ADV for the time t1;
• in response to determining that a difference between one or more fields of the retrieved stored second state and corresponding one or more fields of the measured real-time second state is greater than a threshold value, adjusting one or more control input parameters of the ADV.