A feedback based real time steering calibration 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:

• determining a lateral control error of a steering system of the ADV, including iteratively
• performing following operations for a predetermined time period,
• perceiving a driving condition based on sensor data obtained from a plurality of sensors mounted on the ADV,
• determining whether the ADV is moving within a predetermined proximity of a current moving direction,
• determining whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition based on the driving condition,
• measuring a first steering feedback of the ADV in response to a prior steering control command, and
• determining the lateral control error based on at least a portion of the first steering feedback over the predetermined time period, in response to determining that the ADV is moving within the predetermined proximity of the current moving direction and determining that the road condition satisfies the predetermined road condition over the predetermined time period;
• generating a steering command in view of the lateral control error of the steering system;
• and
• applying the steering command to control the ADV to compensate the lateral control error of the steering system.

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 determining a lateral control error of a steering system of the ADV, including iteratively
• performing following operations for a predetermined time period,
• perceiving a driving condition based on sensor data obtained from a plurality of sensors mounted on the ADV,
• determining whether the ADV is moving within a predetermined proximity of a current moving direction,
• determining whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition based on the driving condition,
• measuring a first steering feedback of the ADV in response to a prior steering control command, and
• determining the lateral control error based on at least a portion of the first steering feedback over the predetermined time period, in response to determining that the ADV is moving within the predetermined proximity of the current moving direction and determining that the road condition satisfies the predetermined road condition over the predetermined time period;
• generating a steering command in view of the lateral control error of the steering system;
• and
• applying the steering command to control the ADV to compensate the lateral control error of the steering system.