METHOD AND SYSTEM FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE USING PROPORTIONAL, INTEGRAL, AND DERIVATIVE (PID) CONTROLLER

Title:

METHOD AND SYSTEM FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE USING PROPORTIONAL, INTEGRAL, AND DERIVATIVE (PID) CONTROLLER

Document Type and Number:

WIPO Patent Application WO/2018/094647

Kind Code:

A1

Abstract:

An autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.

Inventors:

ZHU FAN (US)
KONG QI (US)
YU XIANG (US)
HU SEN (US)
LUO QI (US)
ZHU ZHENGUANG (CN)
PAN YUCHANG (CN)
YANG WENLI (CN)
YANG GUANG (US)
WANG JINGAO (US)

Application Number:

PCT/CN2016/107109

Publication Date:

May 31, 2018

Filing Date:

November 24, 2016

Export Citation:

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Assignee:

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

International Classes:

G05D1/02

Domestic Patent References:

WO2007000502A1	2007-01-04
WO2011032208A1	2011-03-24

Foreign References:

US20160107682A1	2016-04-21
US5781870A	1998-07-14
US20150346723A1	2015-12-03

Other References: