Application of automatic steering control standard to solve understeering of autonomous vehicle

摘要

In one embodiment, a request to rotate the autonomous vehicle ADV in the first direction and in the second direction is received. In response to the request, a plurality of segment masses of a plurality of segments of the ADV are determined. The segment mass is located at a plurality of predetermined positions within the vehicle platform of the ADV. The position of the center of mass for the entire ADV is calculated on the basis of the segment mass of the segments of the ADV, and the center of mass represents the center of the total mass of the entire ADV. The steering control command is based on the position of the center of mass of the entire ADV for steering control of the ADV.