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METHOD AND SYSTEM FOR ACTUATING A CONTROL SUBSTEM OF AN AUTONOMOUS DRIVING VEHICLE
METHOD AND SYSTEM FOR ACTUATING A CONTROL SUBSTEM OF AN AUTONOMOUS DRIVING VEHICLE
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机译:用于致动自动驾驶车辆控制副体的方法和系统
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摘要
A method and system for actuating a control subsystem of an autonomous driving vehicle (ADV) control system are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle. A control input is received from an ADV perception and planning system. The control input is translated in a control command to a control subsystem of the ADV. A reference actuation output is obtained from a storage of the ADV. The reference actuation output is a smoothed output that accounts for second order actuation dynamic delays attributable to the control subsystem actuator. Based on a difference between the control input and the reference actuation output, adaptive gains are determined and applied to the input control signal to reduce error between the control output and the reference actuation output.
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