Offline and online compensation for control in autonomous driving

A system for operating a vehicle, comprising:

• a mission planning module configured to provide planning information relating to an intended operation of the vehicle, the intended operation relating to an intended value of an operation parameter of the vehicle;
• a vehicle control module configured to perform operations including:
• obtaining, from the mission planning module, the planning information;
• obtaining, based on the intended operation of the vehicle, context information relating to an environment in which the vehicle is to operate following the planning information;
• determining a context compensated control instruction based on the planning information, the context information, and a context compensation model;
• obtaining feedback relating to a deviation of a real-time value of the operation parameter of the vehicle operating according to the context compensated control instruction from the intended value of the operation parameter relating to the intended operation;
• determining a corrected control instruction based on the feedback and a feedback compensation model;
• and
• a vehicle control interface configured to cause the vehicle to operate based on the corrected control instruction.

A non-transitory computer readable medium having instructions stored thereupon, the instructions, upon execution by at least one processor, causing the at least one processor to implement a method comprising:

• obtaining planning information relating to an intended operation of a vehicle, the intended operation relating to an intended value of an operation parameter of the vehicle;
• obtaining, based on the intended operation of the vehicle, context information relating to an environment in which the vehicle is to operate by following the planning information;
• determining a context compensated control instruction based on the planning information and the context information;
• obtaining feedback relating to a deviation of a real-time value of the operation parameter of the vehicle operating according to the context compensated control instruction from the intended value of the operation parameter relating to the intended operation;
• determining a corrected control instruction based on the feedback;
• and
• operating the vehicle based on the corrected control instruction