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1. WO2018094647 - METHOD AND SYSTEM FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE USING PROPORTIONAL, INTEGRAL, AND DERIVATIVE (PID) CONTROLLER

Publication Number WO/2018/094647
Publication Date 31.05.2018
International Application No. PCT/CN2016/107109
International Filing Date 24.11.2016
IPC
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
B62D 15/0265
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
0265Automatic obstacle avoidance by steering
B62D 6/002
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
002computing target steering angles for front or rear wheels
B62D 6/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
02responsive only to vehicle speed
G05B 19/402
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
402characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
G05B 2219/42033
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
42Servomotor, servo controller kind till VSS
42033Kind of servo controller
Applicants
  • BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD. [CN]/[CN]
  • BAIDU USA LLC [US]/[US]
Inventors
  • ZHU, Fan
  • KONG, Qi
  • YU, Xiang
  • HU, Sen
  • LUO, Qi
  • ZHU, Zhenguang
  • PAN, Yuchang
  • YANG, Wenli
  • YANG, Guang
  • WANG, Jingao
Agents
  • INSIGHT INTELLECTUAL PROPERTY LIMITED
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND SYSTEM FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE USING PROPORTIONAL, INTEGRAL, AND DERIVATIVE (PID) CONTROLLER
(FR) PROCÉDÉ ET SYSTÈME POUR LA COMMANDE DE DIRECTION D'UN VÉHICULE AUTONOME À L'AIDE D'UN RÉGULATEUR PROPORTIONNEL INTÉGRAL DÉRIVÉ (PID)
Abstract
(EN)
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.
(FR)
La présente invention concerne un système de commande de direction de véhicule à conduite autonome (ADV), qui détermine l'ampleur et le moment de l'application d'une commande de direction pour gérer des obstacles d'un itinéraire planifié. Le système de commande de direction calcule un premier angle de braquage sur la base d'un angle de direction cible et d'un angle de direction réel de l'ADV, un second angle de braquage sur la base d'une position latérale cible et d'une position latérale réelle de l'ADV pour gérer un itinéraire planifié, un objet ou une trajectoire d'obstacle. Ledit système de commande de direction détermine un angle de braquage cible sur la base du premier angle de braquage et du second angle de braquage, et il utilise l'angle de braquage cible pour commander un angle de braquage ultérieur de l'ADV.
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