Estimating and correcting bias in vehicle motion control
AssigneeAtieva, Inc.
InventorPablo Sebastian Gonzalez Cisneros
Life of this patent
Estimating the term…
Abstract
A vehicle comprises: an advanced driver assistance system (ADAS) generating a command for an aspect of vehicle motion; an actuator for controlling the aspect of the vehicle motion, the actuator connected to the ADAS; and a bias estimator circuit that estimates a bias between the command for the aspect of vehicle motion and an effective vehicle motion aspect, the bias estimator circuit estimating the bias using an operator that predicts a next timestep of nonlinear functions of vehicle state, wherein the command for the aspect of vehicle motion is corrected using the bias estimated by the bias estimator circuit to provide a corrected command for the aspect of vehicle motion for use by the actuator.
Claims24
A vehicle comprising:
- an advanced driver assistance system (ADAS) generating a command for an aspect of vehicle motion;
- an actuator for controlling the aspect of the vehicle motion, the actuator connected to the ADAS;
- and
- a bias estimator circuit that estimates a bias between the command for the aspect of vehicle motion and an effective vehicle motion aspect, the bias estimator circuit estimating the bias using an operator that predicts a next timestep of nonlinear functions of vehicle state, wherein the command for the aspect of vehicle motion is corrected using the bias estimated by the bias estimator circuit to provide a corrected command for the aspect of vehicle motion for use by the actuator which operates using the corrected command for the aspect of vehicle motion.
A computer-implemented method comprising:
- generating, using an advanced driver assistance system (ADAS) of a vehicle, a command for an aspect of vehicle motion for the vehicle;
- estimating a bias between the command for the aspect of vehicle motion and an effective vehicle motion aspect, the bias estimated using an operator that predicts a next timestep of nonlinear functions of vehicle state;
- correcting the command for the aspect of vehicle motion using the estimated bias to generate a corrected command for the aspect of vehicle motion;
- and
- providing the corrected command for the aspect of vehicle motion to an actuator connected to the ADAS for controlling the aspect of the vehicle motion such that the actuator operates using the corrected command for the aspect of vehicle motion.
Dependencies are inferred from the claim text.