- 专利标题: Autonomous vehicle actuation dynamics and latency identification
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申请号: US16790036申请日: 2020-02-13
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公开(公告)号: US11167770B2公开(公告)日: 2021-11-09
- 发明人: Yu Wang , Qi Luo , Shu Jiang , Jinghao Miao , Jiangtao Hu , Jingao Wang , Jinyun Zhou , Jiaxuan Xu
- 申请人: Baidu USA LLC
- 申请人地址: US CA Sunnyvale
- 专利权人: Baidu USA LLC
- 当前专利权人: Baidu USA LLC
- 当前专利权人地址: US CA Sunnyvale
- 代理机构: Womble Bond Dickinson (US) LLP
- 主分类号: B60W50/08
- IPC分类号: B60W50/08 ; B60W50/035 ; B60W50/00
摘要:
Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.