Context-specific tolerance for motion control in autonomous vehicles

• US 10,452,070 B2
• Filed: 09/15/2017
• Issued: 10/22/2019
• Est. Priority Date: 09/15/2017
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Greenfield, Aaron L., Tschanz, Frederic, Bradley, David McAllister, Yanakiev, Diana
• Primary Examiner(s): Alharbi, Adam M
• Application Number:
  US15/705,507
• Publication Number:
  US 20190086924A1
• Time in Patent Office: 767 Days
• CPC Class Codes: B60W 2554/4023 large-size vehicles, e.g. trucks
• CPC Class Codes: B60W 2556/25 Data precision
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: B60W 60/0013 specially adapted for occupant comfort
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13

Abstract

The present disclosure provides systems and methods that employ tolerance values defining a level of vehicle control precision for motion control of an autonomous vehicle. More particularly, a vehicle controller can obtain a trajectory that describes a proposed motion path for the autonomous vehicle. A constraint set of one or more tolerance values (e.g., a longitudinal tolerance value and/or lateral tolerance value) defining a level of vehicle control precision can be determined or otherwise obtained. Motion of the autonomous vehicle can be controlled to follow the trajectory within the one or more tolerance values (e.g., longitudinal tolerance value(s) and/or a lateral tolerance value(s)) identified by the constraint set. By creating a motion control framework for autonomous vehicles that includes an adjustable constraint set of tolerance values, autonomous vehicles can more effectively implement different precision requirements for different driving situations.

Claims

1. A vehicle controller, comprising circuitry configured to:

obtain a trajectory that describes a proposed motion path for an autonomous vehicle;

obtain one or more tolerance values defining a level of permitted deviation for the autonomous vehicle with respect to the trajectory, wherein the one or more tolerance values are determined based on a current context associated with operation of the autonomous vehicle; and

generate one or more vehicle actuator commands based at least in part on the one or more tolerance values, wherein the one or more vehicle actuator commands are configured to control motion of the autonomous vehicle to follow the trajectory within the one or more tolerance values.

2. The vehicle controller of claim 1, wherein the one or more tolerance values comprise a longitudinal tolerance value defining a level of permitted deviation in a longitudinal direction for the autonomous vehicle with respect to the trajectory and a lateral tolerance value defining a level of permitted deviation in the lateral direction for the autonomous vehicle with respect to the trajectory.

3. The vehicle controller of claim 1, wherein the current context provides information descriptive of one or more of:

an environment in which the autonomous vehicle is currently operating, a maneuver in which the autonomous vehicle is currently engaged or about to engage, a current state of the autonomous vehicle, or a current or predicted future state of objects proximate to the autonomous vehicle.

4. The vehicle controller of claim 1, wherein the circuitry is further configured to generate tolerance feedback descriptive of a current ability of the vehicle controller to follow the trajectory in accordance with the one or more tolerance values.

5. The vehicle controller of claim 4, wherein the tolerance feedback is generated at least in part from a tracking error check that compares a current measured tracking error for the autonomous vehicle with an expected tracking error.

6. The vehicle controller of claim 4, wherein the tolerance feedback is generated at least in part from an aggressiveness limit check that compares the one or more tolerance values to one or more predetermined limit values.

7. The vehicle controller of claim 1, wherein:

the one or more vehicle actuator commands are determined based on one or more adjustable parameters; and

the circuitry is further configured to generate one or more tolerance parameters that are used to alter the one or more adjustable parameters.

8. The vehicle controller of claim 1, wherein:

the circuitry is further configured to generate expected controller performance data that describes a threshold amount of deviation that will not be exceeded; and

the one or more tolerance parameters are generated based at least in part on the expected controller performance data.

9. The vehicle controller of claim 1, wherein the circuitry is further configured to apply tolerance parameter limiting to the one or more tolerance parameters to smooth the output of the one or more tolerance parameters.

10. An autonomous vehicle, comprising:

a computing system comprising one or more computing devices;

a vehicle controller implemented by the computing system, the vehicle controller configured to;

obtain a trajectory that describes a proposed motion path for the autonomous vehicle and a constraint set of one or more tolerance values defining a level of vehicle control precision; and

generate a longitudinal actuator command and a lateral actuator command based at least in part on the constraint set of the one or more tolerance values; and

one or more actuators configured to receive the longitudinal actuator command and the lateral actuator command and control motion of the autonomous vehicle to follow the trajectory in accordance with the level of vehicle control precision defined by the constraint set of the one or more tolerance values.

11. The autonomous vehicle of claim 10, further comprising a motion planner implemented by the computing system, wherein the motion planner is configured to generate the trajectory that describes the proposed motion path for the autonomous vehicle, and wherein the motion planner is configured to generate the constraint set of the one or more tolerance values.

12. The autonomous vehicle of claim 11, wherein the motion planner is configured to generate the constraint set of the one or more tolerance values based on a relative distance of objects from a location of the autonomous vehicle over time as specified in the trajectory.

13. The autonomous vehicle of claim 11, wherein the motion planner is configured to generate the constraint set of the one or more tolerance values by obtaining predefined tolerance values from a look up table based on context information generated by a dedicated context controller provided within the autonomous vehicle.

14. The autonomous vehicle of claim 10, wherein the vehicle controller is further configured to determine tolerance feedback descriptive of a current ability of the vehicle controller to follow the trajectory within the one or more tolerance values and to provide the tolerance feedback to the motion planner.

15. The autonomous vehicle of claim 10, wherein:

the at least one lateral vehicle actuator command and the at least one longitudinal vehicle actuator command are respectively determined based on one or more adjustable parameters; and

the vehicle controller is further configured to generate a longitudinal tolerance parameter and a lateral tolerance parameter that are used to alter the values of the one or more adjustable parameters used to determine the at least one lateral vehicle actuator command and the at least one longitudinal vehicle actuator command.

16. The autonomous vehicle of claim 10, wherein the vehicle controller comprises a tolerance parameter generator configured to generate one or more tolerance parameters that are used at least in part to generate the longitudinal actuator command and the lateral actuator command, the tolerance parameter generator comprising:

a data-based controller characterization system configured to generate expected controller performance data that describes a threshold amount of deviation that will not be exceeded; and

an inversion of controller characterization system that receives the expected controller performance data and generate the one or more tolerance parameters based at least in part on the expected controller performance data.

17. The autonomous vehicle of claim 16, wherein the tolerance parameter generator further comprises a tolerance parameter limiting system that implements asymmetric rate limiting to smooth the output of the one or more tolerance parameters.

18. A computer-implemented method to control motion of an autonomous vehicle, the method comprising:

obtaining, by a computing system comprising one or more computing devices, a trajectory that describes a proposed motion path for the autonomous vehicle;

obtaining, by the computing system, a constraint set of one or more tolerance values defining a level of vehicle control precision;

generating, by the computing system, one or more vehicle actuator commands based at least in part on the one or more tolerance values of the constraint set; and

controlling motion of the autonomous vehicle in accordance with the one or more vehicle actuator commands such that the autonomous vehicle follows the trajectory within the one or more tolerance values identified by the constraint set.

19. The computer-implemented method of claim 18, further comprising:

obtaining, by the computing system, one or more state variables representing the current state of the autonomous vehicle; and

determining, by the computing system, based at least in part on the one or more state variables and the trajectory, a tracking error descriptive of a deviation of the autonomous vehicle from a desired state associated with the trajectory; and

wherein the constraint set of the one or more tolerance values defining a level of vehicle control precision is determined at least in part from the one or more state variables and the tracking error.

20. The computer-implemented method of claim 18, wherein:

the one or more tolerance values comprise a longitudinal tolerance value defining a level of permitted deviation in a longitudinal direction for the autonomous vehicle with respect to the trajectory and a lateral tolerance value defining a level of permitted deviation in the lateral direction for the autonomous vehicle with respect to the trajectory; and

the one or more vehicle actuator commands comprise a longitudinal actuator command for controlling the autonomous vehicle to follow the trajectory within the longitudinal tolerance value and a lateral actuator command for controlling the autonomous vehicle to follow the trajectory within the lateral tolerance value.