Adaptive controller performance analyzer and algorithm optimizer
A number of variations may include a system and method may include autonomous driving systems including an algorithm analyzing motion controller performance in real time with respect to a set of attributes. The system and method may include an algorithm monitoring conditions such as monitoring actuations, vehicle dynamics, vehicle operating environment, and vehicle capability. The system and method may include an algorithm evaluating said conditions to determine which controller is best suited to the current situation during live vehicle operations.
1 . A method of controlling an autonomous vehicle, the method comprising:
determining a path to be traveled by the autonomous vehicle;
selecting a motion control algorithm from among a first motion control algorithm configured to autonomously control the autonomous vehicle to travel along the path and a second motion control algorithm configured to autonomously control the autonomous vehicle to travel along the path;
determining a first performance of the first motion control algorithm controlling the autonomous vehicle to autonomously travel along the path wherein the first performance is based on comparing the first motion control algorithm to a motion profile database;
determining a second performance of the second motion control algorithm controlling the autonomous vehicle to autonomously travel along the path wherein the second performance is based on comparing the first motion control algorithm to the motion profile database; and
selecting the motion control algorithm based on which of the first performance and the second performance is closer to a target motion profile in the motion profile database, wherein the target motion profile is based on a plurality of performance attributes; and
controlling the autonomous vehicle to autonomously travel along the path using the selected motion control algorithm.
2 . The method of claim 1 , wherein the first performance comprises (i) a first acceleration to be applied to the autonomous vehicle to autonomously travel along the path and (ii) first lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path, and
wherein the second performance comprises (i) a second acceleration to be applied to the autonomous vehicle to autonomously travel along the path and (ii) second lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path.
3 . The method of claim 1 , further comprising determining weather conditions in an environment surrounding the autonomous vehicle,
wherein the first performance comprises (i) the first acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions and (ii) the first lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions, and
wherein the second performance comprises (i) the second acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions and (ii) the second lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions.
4 . The method of claim 1 , further comprising determining road characteristics of a road on the path to be traveled by the autonomous vehicle,
wherein the road characteristics are temporary external vehicle operating conditions,
wherein the first performance comprises (i) the first acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the road characteristics and (ii) the first lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the road characteristics, and
wherein the second performance comprises (i) the second acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the road characteristics and (ii) the second lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the road characteristics.
5 . The method of claim 1 , further comprising determining a travel range of the autonomous vehicle,
wherein the first performance comprises (i) the first acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the travel range and (ii) the first lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the travel range, and
wherein the second performance comprises (i) the second acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the travel range and (ii) the second lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the travel range.
6 . The method of claim 1 , further comprising:
determining weather conditions in an environment surrounding the autonomous vehicle;
determining road characteristics of a road on the path to be traveled by the autonomous vehicle; and
determining a travel range of the autonomous vehicle,
wherein the first performance comprises (i) the first acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions, the road characteristics, and the travel range, and (ii) the first lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions, the road characteristics, and the travel range, and
wherein the second performance comprises (i) the second acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions, the road characteristics, and the travel range, and (ii) the second lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on the weather conditions, the road characteristics, and the travel range.
7 . The method of claim 1 , further comprising:
determining weather conditions in an environment surrounding the autonomous vehicle;
determining road characteristics of a road on the path to be traveled by the autonomous vehicle; and
determining a travel range of the autonomous vehicle,
wherein the first performance comprises (i) the first acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on at least one of the weather conditions, the road characteristics, and the travel range, and (ii) the first lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on at least one of the weather conditions, the road characteristics, and the travel range, and
wherein the second performance comprises (i) the second acceleration to be applied to the autonomous vehicle to autonomously travel along the path based on at least one of the weather conditions, the road characteristics, and the travel range, and (ii) the second lateral and longitudinal control applied to the autonomous vehicle to autonomously travel along the path based on at least one of the weather conditions, the road characteristics, and the travel range.
8 . The method of claim 1 , wherein the first performance comprises at least one of a first amplitude, a first slew rate, a first frequency dosage duration, and a first sequence, and
wherein the second performance comprises at least one of a second amplitude, a second slew rate, a second frequency dosage duration, and a second sequence.
9 . The method of claim 1 , wherein the first performance comprises a first vibration dose value, and
wherein the second performance comprises a second vibration dose value.
10 . The method of claim 1 , further comprising monitoring actuations of actuators of the autonomous vehicle,
wherein selecting the motion control algorithm comprises:
determining the first performance of the first motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the actuations;
determining the second performance of the second motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the actuations; and
selecting the motion control algorithm based on the first performance and the second performance.
11 . The method of claim 10 , wherein the actuators comprise at least one of actuators of at least one of a steering system of the autonomous vehicle, a propulsion system of the autonomous vehicle, a braking system of the autonomous vehicle, an active chassis control system of the autonomous vehicle, a tire monitoring system of the autonomous vehicle, and a vehicle vibration monitor of the autonomous vehicle.
12 . The method of claim 10 , wherein the actuators comprise actuators of a steering system of the autonomous vehicle, a propulsion system of the autonomous vehicle, a braking system of the autonomous vehicle, an active chassis control system of the autonomous vehicle, a tire monitoring system of the autonomous vehicle, and a vehicle vibration monitor of the autonomous vehicle.
13 . The method of claim 1 , further comprising monitoring vehicle dynamics of the autonomous vehicle,
wherein selecting the motion control algorithm comprises:
determining the first performance of the first motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the vehicle dynamics;
determining the second performance of the second motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the vehicle dynamics; and
selecting the motion control algorithm based on the first performance and the second performance.
14 . The method of claim 1 , further comprising monitoring a vehicle environment of the autonomous vehicle, wherein selecting the motion control algorithm comprises:
determining the first performance of the first motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the vehicle environment;
determining the second performance of the second motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the vehicle environment;
and selecting the motion control algorithm based on the first performance and the second performance.
15 . The method of claim 1 , further comprising monitoring a vehicle capability of the autonomous vehicle,
wherein selecting the motion control algorithm comprises:
determining the first performance of the first motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the vehicle capability;
determining the second performance of the second motion control algorithm controlling the autonomous vehicle to autonomously travel along the path based on the vehicle capability; and
selecting the motion control algorithm based on the first performance and the second performance.
16 . The method of claim 1 , wherein the plurality of performance attributes comprise at least one of amplitude, slew rate, frequency dosage duration, sequence, traffic operating envelope, distance to the edge of vehicle capability, comfort level selected, and remaining energy available.