SYSTEM DELAY ESTIMATION METHOD FOR AUTONOMOUS VEHICLE CONTROL
First Claim
1. A computer-implemented method for operating an autonomous vehicle, the method comprising:
- measuring a steering control delay between time of issuing a steering control command and time of a first response from one or more wheels of an autonomous vehicle;
measuring a speed control delay between time of issuing a speed control command and time of a second response from one or more wheels of the autonomous vehicle;
in response to a given route, estimating an overall system delay based on the steering control delay and the speed control delay using a predetermined algorithm; and
generating planning and control data in view of the system delay for operating the autonomous vehicle along the given route.
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Accused Products
Abstract
In one embodiment, a steering control delay is measured, where the steering delay represents the delay between the time of issuing a steering control command and the time of a response from one or more wheels of an autonomous vehicle. A speed control delay is measured between the time of issuing a speed control command and the time of a response from one or more wheels of the autonomous vehicle or the time of supplying pressure to the gas pedal or brake pedal. In response to a given route subsequently, an overall system delay is determined based on the steering control delay and the speed control delay using a predetermined algorithm. Planning and control data is generated in view of the system delay for operating the autonomous vehicle.
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Citations
24 Claims
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1. A computer-implemented method for operating an autonomous vehicle, the method comprising:
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measuring a steering control delay between time of issuing a steering control command and time of a first response from one or more wheels of an autonomous vehicle; measuring a speed control delay between time of issuing a speed control command and time of a second response from one or more wheels of the autonomous vehicle; in response to a given route, estimating an overall system delay based on the steering control delay and the speed control delay using a predetermined algorithm; and generating planning and control data in view of the system delay for operating the autonomous vehicle along the given route. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of determining a system delay of an autonomous vehicle, the operations comprising:
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measuring a steering control delay between time of issuing a steering control command and time of a first response from one or more wheels of an autonomous vehicle; measuring a speed control delay between time of issuing a speed control command and time of a second response from one or more wheels of the autonomous vehicle; in response to a given route, estimating an overall system delay based on the steering control delay and the speed control delay using a predetermined algorithm; and generating planning and control data in view of the system delay for operating the autonomous vehicle along the given route. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A data processing system, comprising:
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a processor; and a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations of determining a system delay of an autonomous vehicle, the operations including measuring a steering control delay between time of issuing a steering control command and time of a first response from one or more wheels of an autonomous vehicle, measuring a speed control delay between time of issuing a speed control command and time of a second response from one or more wheels of the autonomous vehicle, in response to a given route, estimating an overall system delay based on the steering control delay and the speed control delay using a predetermined algorithm, and generating planning and control data in view of the system delay for operating the autonomous vehicle along the given route. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification