LONGITUDE CASCADED CONTROLLER PRESET FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE

Title:

LONGITUDE CASCADED CONTROLLER PRESET FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE

Document Type and Number:

WIPO Patent Application WO/2018/157386

Kind Code:

A1

Abstract:

A method and system relate to operating an ADV. When an ADV transitions from a manual driving mode to an autonomous driving mode, a first speed reference is determined based on a current position of the ADV. The current position of the ADV is dynamically measured in response to a speed control command issued in a previous command cycle and a target speed of a current command cycle. A second speed reference is determined based on a current target position for a current command cycle. A speed control command is then generated for controlling the speed of the ADV in the autonomous driving mode based on the first speed reference, the second speed reference, and the target speed of the ADV for the current command cycle, such that the ADV operates in a similar acceleration rate or deceleration rate before and after transitioning from the manual driving mode to the autonomous driving mode.

Inventors:

LUO QI (US)
KONG QI (US)
ZHU FAN (US)
HU SEN (US)
YU XIANG (US)
ZHU ZHENGUANG (US)
PAN YUCHANG (US)
HE JIARUI (US)
FAN HAOYANG (US)
YANG GUANG (US)
WANG JINGAO (US)

Application Number:

PCT/CN2017/075584

Publication Date:

September 07, 2018

Filing Date:

March 03, 2017

Export Citation:

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Assignee:

BAIDU COM TIMES TECH BEIJING CO LTD (CN)
BAIDU USA LLC (US)

International Classes:

B60W30/182

Foreign References:

US20150283998A1	2015-10-08
CN106338988A	2017-01-18
CN106218639A	2016-12-14
CN105955099A	2016-09-21
CN104816727A	2015-08-05

Other References: