According to one embodiment, when an ADV transitions from a manual driving mode to an autonomous driving mode, a first speed reference is determined based on a current position of the ADV. The current position of the ADV is dynamically measured in response to a speed control command issued in a previous command cycle and a target speed of a current command cycle. A second speed reference is determined based on a current target position for a current command cycle. A speed control command is then generated for controlling the speed of the ADV in the autonomous driving mode based on the first speed reference, the second speed reference, and the target speed of the ADV for the current command cycle, such that the ADV operates in a similar acceleration rate or deceleration rate before and after transitioning from the manual driving mode to the autonomous driving mode.


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    Title :

    LONGITUDE CASCADED CONTROLLER PRESET FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE


    Contributors:
    LUO QI (author) / KONG QI (author) / ZHU FAN (author) / HU SEN (author) / YU XIANG (author) / ZHU ZHENGUANG (author) / PAN YUCHANG (author) / HE JIARUI (author) / FAN HAOYANG (author) / YANG GUANG (author)

    Publication date :

    2018-09-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    LONGITUDE CASCADED CONTROLLER PRESET FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE

    LUO QI / KONG QI / ZHU FAN et al. | European Patent Office | 2018

    Free access


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    METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE

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

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