# US 2026/0062017 A1 · Method and system of quantifying and managing steering command-response latency for an autonomous vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0062017 A1 - Document ID: US20260062017A1 - Status: Published application - Kind: A1 - Application number: 18/822,976 - Filed: 2024-09-03 - Published: 2026-03-05 - Earliest claimed: 2024-09-03 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Trevor Kyle - Web page: https://patentgrep.com/patent/US20260062017A1 ## CPC - B60W 50/045: {Monitoring control system parameters} - B60W 40/105: Speed - B60W 60/0025: {specially adapted for specific operations} - H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks - B60W 2720/24: Direction of travel - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract A method and system of quantifying and managing steering command-response latency for an autonomous vehicle. The system enables the method to determine a lag time between issuing a control command and achieving a commanded angle for a plurality of predetermined vehicle velocities. A predetermined number of lag times are averaged for each of the plurality of predetermined vehicle velocities. The average lag times are weighted in which the more current determined lag times have a higher weight than a less current determined lag time. The averaged time lag is used to improve the response of the vehicle and to detect a health issue in the steering system of the vehicle. ## Claims ### Claim 1 A method of quantifying and managing steering command-response latency for an autonomous vehicle, comprising: autonomously driving a vehicle on a vehicle path; determining, in real-time, an average latency of steering command-responses for each of a plurality of predetermined vehicle velocities; determining a change in the vehicle path; determining an instant velocity in response to the determined change in the vehicle path; selecting a determined average latency having a predetermined vehicle velocity same as the instant velocity; issuing 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 executing the direction change steering command to negotiate the determined change in the vehicle path. ### Claim 2 (depends on 1) The method of claim 1, further comprising: determining a current latency between issuing the direction change steering command to negotiate the determined change in the vehicle path and executing the direction change steering command; and including the determined current latency and the determined instant velocity in determining, in real-time, the average latency of steering command-responses for each of the plurality of predetermined vehicle velocities. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining one of the determined average latency of steering command-responses exceeding a predetermined value threshold; and initiating a vehicle health alert in response to the determined average latency of steering command-responses exceeding a predetermined value threshold. ### Claim 4 (depends on 1) The method of claim 1, 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. ### Claim 5 (depends on 4) The method of claim 4, wherein less current latencies above a predetermined number are deleted as more current latencies are determined. ### Claim 6 (depends on 1) The method of claim 1, wherein the plurality of predetermined vehicle velocities are predetermined discrete velocities. ### Claim 7 (depends on 1) The method of claim 1, wherein the plurality of predetermined vehicle velocities are predetermined velocity ranges. ### Claim 8 (depends on 1) The method of claim 1, wherein a latency of a steering command-response is an amount of time elapsed between a control module issuing a control command for a steering system to achieve a requested steering angle and the steering system completing an achievement of executing the requested steering angle. ### Claim 9 (depends on 1) The method of claim 1, wherein a latency of a steering command-response is an amount of time elapsed between the control module issuing a control command for the steering system to achieve a requested steering angle and the steering system achieving the requested steering angle. ### Claim 10 (depends on 1) The method of claim 1, wherein at least one of the latencies of the steering command-responses is determined by utilizing a cross-correlation function. ### Claim 11 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. ### Claim 12 (depends on 11) The method of claim 11, wherein determining the lag time comprises utilizing a cross-correlation function. ### Claim 13 (depends on 12) The method of claim 12, wherein averaging the determined lag times for each of the plurality of predetermined velocities comprises assigning a weight, wherein a more current determined lag time includes a higher weight than a less current determined lag time. ### Claim 14 (depends on 13) The method of claim 13, wherein averaging the determined lag times for each of the plurality of predetermined velocities includes averaging a predetermined number of the more current determined lag times. ### Claim 15 (depends on 14) The method of claim 14, wherein the predetermined number of the more current determined lag times are stored in a buffer, and excess less current determined lag times above the predetermined number are deleted from the buffer. ### Claim 16 (depends on 11) The method of claim 11, further comprising: detecting a trigger condition; and initiating steps b-e in response to the trigger condition. ### Claim 17 (depends on 11) The method of claim 11, further comprising determining an averaged determined lag time to be greater than a predetermined threshold; and issuing a warning in response to the averaged determined lag time being greater than the predetermined threshold. ### Claim 18 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. ### Claim 19 (depends on 18) The computer readable medium of claim 18, further comprising instructions to cause the processor to: determine one of the determined average latency of steering command-responses exceeding a predetermined value threshold; and issue a vehicle health alert in response to the determined average latency of steering command-responses exceeding a predetermined value threshold. ### Claim 20 (depends on 18) The computer readable medium of claim 18, further comprising instructions to cause the processor to: determine a trigger condition; and initiate determining, in real-time, the average latency of steering command-responses for each of the plurality of predetermined vehicle velocities in response to the determined trigger condition.