CPC B60W 60/001 (2020.02) [G01C 21/3461 (2013.01); G01C 21/3691 (2013.01); G06V 20/56 (2022.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2552/20 (2020.02)] | 18 Claims |
1. A method of operating a vehicle in an autonomous driving mode, the method comprising:
generating, by one or more processors of the vehicle, an initial friction estimation based on a road surface classification for a portion of a roadway and weather data for an external environment of the vehicle;
generating, by the one or more processors, an on-line friction estimate based on the initial friction estimation, pose information of the vehicle on the portion of the roadway, and wheel speed information of the vehicle;
generating, by the one or more processors, a set of acceleration limits based on the on-line friction estimate and the pose information, the set of acceleration limits corresponding to an acceleration envelope of both longitudinal acceleration and lateral acceleration; and
controlling the vehicle along the roadway, by the one or more processors in the autonomous driving mode, according to the set of acceleration limits;
wherein the set of acceleration limits is associated with a set of corrective control inputs and a set of primary control inputs, the set of corrective control inputs being obtained from the on-line friction estimate and the pose information, and the set of primary control inputs being obtained from the on-line friction estimate and trajectory information of the vehicle.
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