Adjusting timing of actuation commands to account for fixed and variable delays in autonomous driving control of vehicles
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United States of America Patent
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Nov 28, 2023
Grant Date -
N/A
app pub date -
Aug 18, 2021
filing date -
Sep 27, 2017
priority date (Note) -
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status (Latency Note)
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Abstract
Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a trajectory is identified. The trajectory defines a future desired path for the vehicle and includes a control requirement having a corresponding point in time. A command for achieving the control requirement is generated. A fixed delay value corresponding to a delay caused by transmission of the command to an actuator of the vehicle is generated. A variable delay value corresponding to a delay caused by an amount of time to change a physical state of the actuator to a desired state according to the command is generated. The command is then sent to the actuator based on the fixed delay value, the variable delay value, and so that the actuator causes the vehicle to move according to the command.
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