Method and system for controlling autonomous driving vehicle reentering autonomous driving mode

• US 10,452,074 B2
• Filed: 03/10/2017
• Issued: 10/22/2019
• Est. Priority Date: 03/10/2017
• Status: Active Grant

• Current Assignee: Baidu.Com Times Technology(Beijing) Co., Ltd. (Baidu Incorporated), Baidu USA LLC (Baidu Incorporated)
• Original Assignee: Baidu USA LLC (Baidu Incorporated)
• Inventors: Luo, Qi, Kong, Qi, Zhu, Fan, Hu, Sen, Yu, Xiang, Zhu, Zhenguang, Pan, Yuchang, He, Jiarui, Fan, Haoyang, Yang, Guang, Wang, Jingao
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/510,817
• Publication Number:
  US 20180299898A1
• Time in Patent Office: 956 Days
• CPC Class Codes: B60W 2050/0074 Driver shifts control to the controller, e.g. by pressing a button
• CPC Class Codes: B60W 2050/0096 Control during transition between modes
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 60/0051 from occupants to vehicle

Abstract

When an ADV is detected to transition from a manual driving mode to an autonomous driving mode, a first pedal value corresponding to a speed of the ADV at a previous command cycle during which the ADV was operating in the manual driving mode is determined. A second pedal value is determined based on a target speed of the ADV at a current command cycle during which the ADV is operating in an autonomous driving mode. A pedal value represents a pedal percentage of a maximum pedal pressure or maximum pedal pressed distance of a throttle pedal or brake pedal from a neutral position. A speed command is generated and issued to the ADV based on the first pedal value and the second pedal value, such that the ADV runs in a similar acceleration before and after switching from the manual driving mode to the autonomous driving mode.

Claims

1. A computer-implemented method for operating an autonomous driving vehicle, the method comprising:

detecting that the autonomous driving vehicle (ADV) transitions from a manual driving mode to an autonomous driving mode;

determining a first pedal value corresponding to a speed of the ADV in response to a speed control command issued at a previous command cycle during which the ADV was operating in the manual driving mode;

determining a second pedal value based on a target speed of the ADV at a current command cycle during which the ADV is operating in the autonomous driving mode; and

issuing a speed control command to the ADV based on the first pedal value and the second pedal value, wherein the speed control command results in a substantially gradual speed change of the ADV between the manual driving mode and the autonomous driving mode.

2. The method of claim 1, wherein determining a first pedal value comprises:

measuring a first torque value based on sensor data from the ADV at the previous command cycle; and

determining the first pedal value based on the first torque value of the ADV using a predetermined algorithm.

3. The method of claim 2, wherein determining the first pedal value based on the first torque value comprises performing a lookup operation in a torque to pedal (torque/pedal) mapping table, wherein the torque/pedal mapping table includes a plurality of mapping entries, each mapping entry mapping a particular torque value to a particular pedal value.

4. The method of claim 1, wherein determining a second pedal value based on a target speed of the ADV comprises:

determining a target speed for the previous command cycle; and

determining the second pedal value based on a difference between the target speed of the current command cycle and the target speed of the previous command cycle.

5. The method of claim 4, further comprising:

calculating a torque value representing a torque required to change the target speed from the previous command cycle to the current command cycle; and

converting the torque value to the second pedal value using a torque/pedal mapping table.

6. The method of claim 1, further comprising:

calculating a preset value based on the first pedal value and the second pedal value, wherein the preset value is utilized as an output of a close loop controller representing a pedal feedback from the ADV; and

calculating a final pedal value based on the preset value and the second pedal value, wherein the speed control command is issued based on the final pedal value.

7. The method of claim 6, wherein the close loop controller is to generate the pedal feedback based on the target speed of the current command cycle and an actual speed of the ADV in response to a speed control command issued in previous command cycle during the autonomous driving mode.

8. The method of claim 7, wherein the preset value is utilized by the close loop controller in lieu of the pedal feedback calculated based on the target speed and the actual speed in response to the detection that the ADV transitions from the manual driving mode to the autonomous driving mode.

9. The method of claim 1, wherein a pedal value represents a percentage of a maximum pedal value of a throttle pedal or a brake pedal for speed control of the ADV.

10. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

detecting that the autonomous driving vehicle (ADV) transitions from a manual driving mode to an autonomous driving mode;

determining a first pedal value corresponding to a speed of the ADV in response to a speed control command issued at a previous command cycle during which the ADV was operating in the manual driving mode;

determining a second pedal value based on a target speed of the ADV at a current command cycle during which the ADV is operating in the autonomous driving mode; and

issuing a speed control command to the ADV based on the first pedal value and the second pedal value, wherein the speed control command results in a substantially gradual speed change of the ADV between the manual driving mode and the autonomous driving mode.

11. The machine-readable medium of claim 10, wherein determining a first pedal value comprises:

measuring a first torque value based on sensor data from the ADV at the previous command cycle; and

determining the first pedal value based on the first torque value of the ADV using a predetermined algorithm.

12. The machine-readable medium of claim 11, wherein determining the first pedal value based on the first torque value comprises performing a lookup operation in a torque to pedal (torque/pedal) mapping table, wherein the torque/pedal mapping table includes a plurality of mapping entries, each mapping entry mapping a particular torque value to a particular pedal value.

13. The machine-readable medium of claim 10, wherein determining a second pedal value based on a target speed of the ADV comprises:

determining a target speed for the previous command cycle; and

determining the second pedal value based on a difference between the target speed of the current command cycle and the target speed of the previous command cycle.

14. The machine-readable medium of claim 13, wherein the operations further comprise:

calculating a torque value representing a torque required to change the target speed from the previous command cycle to the current command cycle; and

converting the torque value to the second pedal value using a torque/pedal mapping table.

15. The machine-readable medium of claim 10, wherein the operations further comprise:

calculating a preset value based on the first pedal value and the second pedal value, wherein the preset value is utilized as an output of a close loop controller representing a pedal feedback from the ADV; and

calculating a final pedal value based on the preset value and the second pedal value, wherein the speed control command is issued based on the final pedal value.

16. The machine-readable medium of claim 15, wherein the close loop controller is to generate the pedal feedback based on the target speed of the current command cycle and an actual speed of the ADV in response to a speed control command issued in previous command cycle during the autonomous driving mode.

17. The machine-readable medium of claim 16, wherein the preset value is utilized by the close loop controller in lieu of the pedal feedback calculated based on the target speed and the actual speed in response to the detection that the ADV transitions from the manual driving mode to the autonomous driving mode.

18. A data processing system, comprising:

a processor; and

a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including

detecting that the autonomous driving vehicle (ADV) transitions from a manual driving mode to an autonomous driving mode,

determining a first pedal value corresponding to a speed of the ADV in response to a speed control command issued at a previous command cycle during which the ADV was operating in the manual driving mode,

determining a second pedal value based on a target speed of the ADV at a current command cycle during which the ADV is operating in the autonomous driving mode, and

issuing a speed control command to the ADV based on the first pedal value and the second pedal value, wherein the speed control command results in a substantially gradual speed change of the ADV between the manual driving mode and the autonomous driving mode.

19. The system of claim 18, wherein determining a first pedal value comprises:

measuring a first torque value based on sensor data from the ADV at the previous command cycle; and

determining the first pedal value based on the first torque value of the ADV using a predetermined algorithm.

20. The system of claim 19, wherein determining the first pedal value based on the first torque value comprises performing a lookup operation in a torque to pedal (torque/pedal) mapping table, wherein the torque/pedal mapping table includes a plurality of mapping entries, each mapping entry mapping a particular torque value to a particular pedal value.

21. The system of claim 18, wherein determining a second pedal value based on a target speed of the ADV comprises:

determining a target speed for the previous command cycle; and

determining the second pedal value based on a difference between the target speed of the current command cycle and the target speed of the previous command cycle.

22. The system of claim 21, wherein the operations further comprise:

calculating a torque value representing a torque required to change the target speed from the previous command cycle to the current command cycle; and

converting the torque value to the second pedal value using a torque/pedal mapping table.

23. The system of claim 18, wherein the operations further comprise:

calculating a preset value based on the first pedal value and the second pedal value, wherein the preset value is utilized as an output of a close loop controller representing a pedal feedback from the ADV; and

calculating a final pedal value based on the preset value and the second pedal value, wherein the speed control command is issued based on the final pedal value.

24. The system of claim 23, wherein the close loop controller is to generate the pedal feedback based on the target speed of the current command cycle and an actual speed of the ADV in response to a speed control command issued in previous command cycle during the autonomous driving mode.