CPC B60W 50/0205 (2013.01) [G05D 1/0088 (2013.01); G07C 5/008 (2013.01); G07C 5/0808 (2013.01); B60W 2050/021 (2013.01); B60W 2510/18 (2013.01); B60W 2510/20 (2013.01); B60W 2556/45 (2020.02); G05D 2201/0213 (2013.01)] | 20 Claims |
1. A method for monitoring an autonomous driving vehicle (ADV), the method comprising:
receiving, at a control module, planning and control data from a planning module, the planning and control data representing a path generated by the planning module based on perception data perceiving driving environment surrounding the ADV; and
in response to the planning and control data, performing by the control module,
generating a control command to control the ADV to move according to the path,
sensing feedback of the ADV in response to the control command,
determining a difference between an expected response to the control command by the ADV and the feedback corresponding to the control command,
if the difference satisfies a threshold, generating a fault response including,
providing a visual indication of a fault, and
controlling the ADV with a remedial control command; and
if a control difference between a first control command generated by an MPC controller and a second control command generated by a proportional integral derivative (PID) controller satisfies a control threshold, then controlling the ADV with the second control command.
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