Method and system of quantifying and managing steering command-response latency for an autonomous vehicle

A method of quantifying and managing steering command-response latency for an autonomous vehicle, comprising:

• a. autonomously driving a vehicle at a plurality of predetermined velocities;
• b. issuing a plurality of control commands to achieve respective commanded steering angles at each of the plurality of predetermined velocities;
• c. achieving the respective commanded steering angles in response to the plurality of control commands;
• d. determining a lag time between each of the issuing plurality of control commands to achieve respective commanded steering angles at each of the plurality of predetermined velocities and achieving the respective commanded steering angles;
• e. determining an average lag time for each of the plurality of predetermined velocities;
• and
• f. executing a current control command to achieve a current steering angle at one of the plurality of predetermined velocities, wherein the current control command includes compensating for the determined average lag time corresponding to the one of the plurality of predetermined velocities.

A computer readable medium comprising instructions stored thereon for quantifying and managing steering command-response latency for an autonomous vehicle, that upon execution by a processor, cause the processor to:

• autonomously drive a vehicle on a vehicle path;
• determine, in real-time, an average latency of steering command-responses for each of a plurality of predetermined vehicle velocities;
• determine a change in the vehicle path;
• determine an instant velocity in response to the determined change in the vehicle path;
• select a determined average latency having a predetermined vehicle velocity same as the instant velocity;
• issue a direction change steering command to negotiate the determined change in the vehicle path, wherein the direction change steering command includes compensating for the selected determined average latency;
• and
• execute the direction change steering command to negotiate the determined change in the vehicle path,
• wherein the determined average latency is a weighted average comprising a plurality of latencies determined over a period of time, wherein a more current determined latency includes a higher weight than a less current determined latency.