Method and apparatus with vehicle control
AssigneeSamsung Electronics Co., Ltd.
InventorsHyunsoo Cha, Seho Shin, Jaehwa Lee
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Abstract
A method of controlling a vehicle includes: receiving pieces of data related to steering of the vehicle; detecting, among the pieces of data, target pieces of data determined to satisfy predetermined conditions; based on the target pieces of data and an optimization model, obtaining optimized model parameters that minimize a cumulative error between a predicted yaw rate of a yaw rate model of the vehicle and a measured yaw rate of the vehicle; and updating the yaw rate model of the vehicle by using the optimized model parameters.
Claims21
A method of controlling a vehicle, the method comprising:
- receiving pieces of data related to steering of the vehicle;
- selecting, from among the pieces of data, a subset of the pieces of data, which are target pieces of data selected based on determining that they to satisfy predetermined conditions;
- based on the target pieces of data and an optimization model, optimizing model parameters that-determined, based on a cumulative error, to minimize the cumulative error between a predicted yaw rate of a yaw rate model of the vehicle and a measured yaw rate of the vehicle, wherein the cumulative error is determined based on multiple pieces of yaw rate error of respective different times;
- and
- updating the yaw rate model of the vehicle by using the optimized model parameters.
An apparatus for controlling a vehicle, the apparatus comprising:
- one or more processors configured to:
- receive pieces of data related to steering of the vehicle,
- select, from among the pieces of data, a subset of the pieces of data, which are target pieces of data selected based on determining that they to satisfy predetermined conditions,
- based on the target pieces of data and an optimization model, optimizing model parameters determined, based on a cumulative error to minimize the cumulative error wherein the cumulative error is an error between a predicted yaw rate of a yaw rate model of the vehicle and a measured yaw rate of the vehicle, and wherein the cumulative error is determined based on multiple pieces of yaw error of respective different times, and
- update the yaw rate model of the vehicle by using the optimized model parameters.
An electronic device of a vehicle, the electronic device comprising:
- one or more processors;
- memory storing instructions configured to, when executed by the one or more processors:
- set a target yaw rate of the vehicle for rotational driving of the vehicle,
- control a yaw rate of the vehicle by using a yaw rate model of the vehicle to achieve the target yaw rate,
- acquire data related to autonomous steering of the vehicle, based on data related to steering the vehicle satisfying a predetermined condition,
- determine whether to update the yaw rate model, wherein the determination is based on a cumulative error between a predicted yaw rate of the yaw rate model and a measured yaw rate of the autonomous vehicle, and
- based on the determining, update the yaw rate model based on the data;
- a display configured to display a user interface according to the instructions;
- wherein the instructions are further configured to cause the one or more processors to:
- receive pieces of data related to the steering of the vehicle,
- based on determining that target pieces of data, among the pieces data, satisfy predetermined conditions, optimize model parameters that are determined, based on the cumulative error to, minimize the cumulative error between the predicted yaw rate and the measured yaw rate, wherein the cumulative error comprises a statistic computed from yaw rate errors of respective different times, and
- update the yaw rate model of the autonomous vehicle by using the optimized model parameters.
Dependencies are inferred from the claim text.