Real-time adaptive deviation assessment and synchronized Compensation in driving phase alternation scenario

Abstract

The real-time synchronized compensation based on adaptive deviation evaluation is proposed as a solution to driving phase alternation scenarios, especially in departure and brake to stop period. It provides a protected control logic to ADAS (Advanced Driving Assist System) or an autonomous driving system equipped vehicle with radar sensors and DGPS (Differential Global Position System) device of non-uniform sampling rate and data quality. It is expected to avoid error computation of movement in time series such as turning angle and velocity. The comprehensive test cases of 350 driving phases in proving ground are designed for effectiveness evaluation of the synchronization correction. The result shows the method could detect and overcome the crucial imprecise signal calculation with coverage ratio of 90.2% and 78.4% in start and stopping deviation scenario so as to enhance the automatic driving function performance.