| CPC G05D 1/0088 (2013.01) [B62D 15/0285 (2013.01); G05D 1/0223 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0212 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
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1. A method for operating an autonomous driving vehicle (ADV), the method comprising:
perceiving a driving environment surrounding the ADV;
determining a current scenario of the ADV from a plurality of driving scenarios that includes a parking scenario and a normal driving scenario, based on the driving environment;
based on the current scenario, selecting a control algorithm among a plurality of distinct control algorithms, each of the control algorithms being associated with at least one of the driving scenarios;
generating a control command with the selected control algorithm by invoking a respective controller corresponding to the selected control algorithm from a plurality of controllers associated with the driving scenarios, based on one or more control target inputs, wherein each of the plurality of controllers share a common application programming interface (API) that is used to invoke the respective controller, and wherein a first of the plurality of distinct control algorithms that corresponds to the parking scenario generates the control command to reduce differences between a target heading of the ADV and a current heading of the ADV, more aggressively than a second of the plurality of distinct control algorithms that corresponds to the normal driving scenario; and
applying the control command to effect movement of the ADV, wherein each of the plurality of distinct control algorithms share in common, a common pre-processing protocol and a common post-processing protocol that formats and outputs the control command onto a vehicle communication bus, and wherein the common post processing protocol includes emergency logic that determines that an emergency condition is present, and in response to the emergency condition being present, the emergency logic generates an emergency command that overrides the control command.
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