Transitioning to an autonomous driving mode using an operator control history
Transitioning to an autonomous driving mode using an operator control history, including: storing, during an operator control of an autonomous vehicle, an operator control history; and generating, in response to entering an autonomous driving mode and based on the operator control history, one or more control operations for the autonomous vehicle.
1 . A method for transitioning to an autonomous driving mode using an operator control history, comprising:
storing, during an operator control of an autonomous vehicle in a non-autonomous driving mode, an operator control history as a sliding window time series of a plurality of most recent instances of operator control history; and
reducing a delay for generating one or more actuator control signals, using a proportional-integral-derivative controller and an integral based on the sliding window time series, in response to transitioning to an autonomous driving mode by:
generating, in response to entering the autonomous driving mode and based on the operator control history, one or more control operations for the autonomous vehicle by generating the one or more actuator control signals, wherein the one or more actuator control signals are configured to drive one or more process values including a current velocity to desired set points.
2 . The method of claim 1 , wherein the operator control history comprises one or more actuator histories.
3 . The method of claim 1 , further comprising:
storing an operational state history for the autonomous vehicle; and
wherein generating the one or more control operations is further based on the operational state history.
4 . The method of claim 1 , further comprising storing the one or more control operations in an autonomous control history.
5 . The method of claim 4 , further comprising generating, based on the operator control history and the autonomous control history, another one or more control operations for the autonomous vehicle.
6 . An apparatus comprising:
a memory; and
a processing device, operatively coupled to the memory, the processing device configured to:
store, during an operator control of an autonomous vehicle in a non-autonomous driving mode, an operator control history as a sliding window time series of a plurality of most recent instances of operator control history; and
reduce a delay for generating one or more actuator control signals, using a proportional-integral-derivative controller in response to transitioning to an autonomous driving mode by:
generate, in response to entering the autonomous driving mode and based on the operator control history, one or more control operations for the autonomous vehicle by generating the one or more actuator control signals, wherein the one or more actuator control signals are configured to drive one or more process values including a current velocity to desired set points.
7 . The apparatus of claim 6 , wherein the operator control history comprises one or more actuator histories.
8 . The apparatus of claim 6 , wherein the processing device is further configured to:
store an operational state history for the autonomous vehicle; and
wherein the one or more control operations are generated further based on the operational state history.
9 . The apparatus of claim 6 , wherein the processing device is further configured to store the one or more control operations in an autonomous control history.
10 . The apparatus of claim 9 , wherein the processing device is further configured to generate, based on the operator control history and the autonomous control history, another one or more control operations for the autonomous vehicle.
11 . An autonomous vehicle comprising:
a memory; and
a processing device, operatively coupled to the memory, the processing device configured to:
store, during an operator control of an autonomous vehicle in a non-autonomous driving mode, an operator control history as a sliding window time series of a plurality of most recent instances of operator control history; and
reduce a delay for generating one or more actuator control signals, using a proportional-integral-derivative controller and an integral based on the sliding window time series, in response to transitioning to an autonomous driving mode by:
generate, in response to entering the autonomous driving mode and based on the operator control history, one or more control operations for the autonomous vehicle by generating the one or more actuator control signals, wherein the one or more actuator control signals are configured to drive one or more process values including a current velocity to desired set points.
12 . The autonomous vehicle of claim 11 , wherein the operator control history comprises one or more actuator histories.
13 . The autonomous vehicle of claim 11 , wherein the processing device is further configured to:
store an operational state history for the autonomous vehicle; and
wherein the one or more control operations are generated further based on the operational state history.
14 . The autonomous vehicle of claim 11 , wherein the processing device is further configured to store the one or more control operations in an autonomous control history.
15 . The autonomous vehicle of claim 14 , wherein the processing device is further configured to generate, based on the operator control history and the autonomous control history, another one or more control operations for the autonomous vehicle.
16 . A non-transitory computer readable storage medium storing instructions which, when executed, cause a processing device to:
store, during an operator control of an autonomous vehicle in a non-autonomous driving mode, an operator control history as a sliding window time series of a plurality of most recent instances of operator control history; and
reduce a delay for generating one or more actuator control signals, using a proportional-integral-derivative controller and an integral based on the sliding window time series, in response to transitioning to an autonomous driving mode by:
generate, in response to entering the autonomous driving mode and based on the operator control history, one or more control operations for the autonomous vehicle by generating the one or more actuator control signals, wherein the one or more actuator control signals are configured to drive one or more process values including a current velocity to desired set points.
17 . The non-transitory computer readable storage medium of claim 16 , wherein the operator control history comprises one or more actuator histories.
18 . The non-transitory computer readable storage medium of claim 16 , wherein the instructions, when executed, further cause the processing device to:
store an operational state history for the autonomous vehicle; and
wherein the one or more control operations are generated further based on the operational state history.
19 . The non-transitory computer readable storage medium of claim 16 , wherein the instructions, when executed, further cause the processing device to store the one or more control operations in an autonomous control history.
20 . The non-transitory computer readable storage medium of claim 16 , wherein the instructions, when executed, further cause the processing device to generate, based on the operator control history and the autonomous control history, another one or more control operations for the autonomous vehicle.