Control architectures for autonomous vehicles

• Main Authors: Zachary Batts, Hans Andersen, Marc Dominik Heim, Boaz Cornelis Floor, Qian Wang, Xiyuan Liu, Jesse Adam Miller, Yiming Zhao, Ning Wu, Juraj Kabzan, Lixun Lin
• Format: Patent
• Language: English
• Published: 17.05.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

A system for controlling an autonomous vehicle comprising; determining a control scenario (1802) in accordance with a determination that the scenario meets either a first, second or third set of conditions (1804). Dependent on which set of conditions is met a first group of control components, a second set of control components or a third set of control components made up of the firs and second sets is selected (1806, 1812 & 1818). Based on which set of components is selected a set of steering and speed commands are produced (1808, 1814 & 1820) and these commands are used to navigate the vehicle (1810, 1816 & 1822). The first set of steering commands includes a data frequency which is increased to a second frequency higher than the first, determining a path using the second frequency data and identifying a reference point on said path and using said reference determining a first set of steering commands. The system may operate dynamically or with a static scenario and use different frequencies of steering data.