In one embodiment, 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.


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    Title :

    Method and system for steering control of an autonomous vehicle using proportional, integral, and derivative (PID) controller


    Contributors:
    ZHU FAN (author) / KONG QI (author) / YU XIANG (author) / HU SEN (author) / LUO QI (author) / ZHU ZHENGUANG (author) / PAN YUCHANG (author) / YANG WENLI (author) / YANG GUANG (author) / WANG JINGAO (author)

    Publication date :

    2018-11-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge