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AssigneeBaidu USA LLC
InventorsYu Wang, Qi Luo, Shu Jiang, Jinghao Miao, Jiangtao Hu, Jingao Wang, Jinyun Zhou, Runxin He, Jiaxuan Xu
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Generating control effort to control an autonomous driving vehicle (ADV) includes determining a direction (forward or reverse) in which the ADV is driving and selecting a driving model and a predictive model based upon the direction. In a forward direction, the driving model is a dynamic model, such as a “bicycle model,” and the predictive model is a look-ahead model. In a reverse direction, the driving model is a hybrid dynamic and kinematic model and the predictive model is a look-back model. Current and predicted lateral error and heading error are determined using the driving model and predictive model, respectively. A linear quadratic regulator (LQR) uses the current and predicted lateral error and heading errors to determine a first control effort An augmented control logic determines a second, additional, control effort, to determine a final control effort that is output to a control module to drive the ADV.
A computer-implemented method for operating an autonomous driving vehicle (ADV), the method comprising:
A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous driving vehicle (ADV), the operations comprising:
A data processing system, comprising:
Dependencies are inferred from the claim text.