Methods and processors for controlling steering of self-driving car

Abstract

A method and processor for controlling steering of a Self-Driving Car (SDC) are disclosed. The method includes: acquiring SDC state data associated with vertices in a graph-structure, using the SDC state data for building a polynomial curve, using the polynomial curve for simulating a candidate trajectory of the SDC as if the SDC is steered in accordance therewith and such that a closest allowed steering wheel position to a non-allowed steering wheel position is used instead of the non-allowed steering wheel position, determining an offset between the simulated state and a target state of the SDC, selecting candidate steering profile as a target steering profile of the SDC based on the offset, and using the target steering profile of the SDC for controlling steering of the SDC. A method of training a Machine Learning Algorithm for predicting steering wheel positions to control steering of the SDC is also disclosed.