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公开(公告)号：US20220299648A1
公开(公告)日：2022-09-22
申请号：US16758740
申请日：2020-03-26
发明人： Xiang LIU , Dongchao GAO , Bin GAO , Fan ZHU
IPC分类号： G01S17/931 , G01S17/89 , G01S7/48 , B60W60/00
摘要： A method, apparatus, and system for filtering a point cloud generated by a LIDAR device in an autonomous vehicle is disclosed. A point cloud comprising a plurality of points is generated based on outputs of the LIDAR device. The point cloud is filtered to remove a first set of points in the plurality of points that correspond to noise based on one or more of: point intensity measurements, distances between points, or a combination thereof. Perception data is generated based on the filtered point cloud. Operations of the autonomous vehicle are controlled based on the perception data.
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公开(公告)号：US20220003855A1
公开(公告)日：2022-01-06
申请号：US16918272
申请日：2020-07-01
申请人： Baidu USA LLC
发明人： Fan ZHU
IPC分类号： G01S7/497 , G01S17/87 , G01S17/931 , G01S7/48 , G01S7/4914
摘要： Embodiments of the present disclosures disclose a method and a system to notify an operator that perception sensors of an autonomous driving vehicle (ADV) need to be recalibrated. In one embodiment, a system perceives a surrounding environment of an autonomous driving vehicle (ADV), including one or more obstacles. The system extracts feature information from previously stored point clouds mapping a three-dimensional surrounding environment of the ADV. The system identifies one or more matching features between the extracted feature information and features of the one or more obstacles. The system determines an average offset distance based on each of the matching features. The system determines an average offset distance distribution based on the average offset distance over a period of time. The system sends an alert to the ADV to alert that the one or more sensors is recommended for recalibration if the average offset distance distribution satisfies a predetermined condition.
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公开(公告)号：US20210362743A1
公开(公告)日：2021-11-25
申请号：US16878447
申请日：2020-05-19
申请人： Baidu USA LLC
发明人： Fan ZHU
摘要： A path planning of the ADV is performed. A set of obstacle boundaries are generated for one or more obstacles, where each of the set of obstacle boundaries has a corresponding buffer distance ranging from a predetermined minimum buffer distance to a predetermined maximum buffer distance. A set of paths of the ADV is generated using quadratic programming based on the set of obstacle boundaries in parallel, where each path of the set of paths corresponds to one of the set of obstacle boundaries. A path is selected from successful paths of the set of paths based on a corresponding obstacle boundary having a smallest corresponding buffer distance, where the ADV is at least a predetermined distance away from the one or more obstacles in the successful paths. The ADV is controlled to drive autonomously according the selected path to avoid the one or more obstacles.
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公开(公告)号：US20210356562A1
公开(公告)日：2021-11-18
申请号：US16771299
申请日：2020-05-15
发明人： Xiang LIU , Shuang ZHANG , Bin GAO , Dongchao GAO , Fan ZHU
IPC分类号： G01S7/48 , G06K9/00 , G06K9/46 , G01S17/42 , G01S17/931
摘要： A method, apparatus, and system for determining whether all extrinsic matrices are accurate is disclosed. A plurality of post-LIDAR fusion point clouds that are based on simultaneous outputs from a plurality of LIDAR devices installed at one ADV are obtained. The obtained plurality of point clouds are filtered to obtain a first set of points comprising all points in the plurality of point clouds that fall within a region of interest. Each point in the first set of points corresponds to one coordinate value on the axis in the up-down direction. A distribution of the first plurality of coordinate values is obtained. A quantity of peaks in the distribution of the first plurality of coordinate values is determined. Whether all extrinsic matrices associated with the plurality of LIDAR devices are accurate is determined based on the quantity of peaks in the distribution of the first plurality of coordinate values.
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公开(公告)号：US20210309223A1
公开(公告)日：2021-10-07
申请号：US16839575
申请日：2020-04-03
申请人： Baidu USA LLC
发明人： Fan ZHU
摘要： In one embodiment, a method of adjusting a speed limit of an ADV includes the operations of tracking objects within a field of view of the ADV; and identifying a set of stable objects from the objects tracked by the ADV based on a set of requirements. The method further includes the operations of identifying a subset of objects from the set of stable objects, the subset of objects having longest distances to the ADV; calculating a detection distance by averaging distances from the subset of stable obstacles to the ADV; and adjusting the speed limit of the ADV based on the detection distance using a predetermined algorithm.
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公开(公告)号：US20210300411A1
公开(公告)日：2021-09-30
申请号：US16829326
申请日：2020-03-25
申请人： Baidu USA LLC
发明人： Fan ZHU
摘要： Embodiments disclose a system and method to generate smooth steering commands for an autonomous driving vehicle (ADV). According to one embodiment, a system determines a planning steering command based on a driving trajectory of an ADV. The system receives a current steering feedback from a sensor of the ADV for a current planning cycle. The system generates one or more smooth steering commands based on the planning steering command and the current steering feedback over one or more planning cycles. The system controls the ADV based on the one or more smooth steering commands so a change in steering applied to the ADV for any planning cycle is within a predetermined steering change threshold for the ADV. That way, the system applies incremental changes for the steering of the ADV.
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公开(公告)号：US20210221374A1
公开(公告)日：2021-07-22
申请号：US16099891
申请日：2018-09-28
申请人： Baidu USA LLC
摘要： In one embodiment, in response to a request to make a three-point turn for an autonomous driving vehicle (ADV), a forward turning path is generated using a first spiral function based on a maximum forward curvature change rate. A backward turning path is generated using a second spiral function based on a maximum backward curvature change rate. The forward and backward curvature change rates may be determined based on the maximum forward and backward turning angles associated with the ADV, which may be specified as a part of vehicle specification or vehicle design of the ADV. The backward turning path is initiated from an end point of the forward turning path. A three-point turn path is then generated based on the forward turning path and the backward turning path. The ADV is then driven according to the three-point turn path by issuing one or more proper control commands.
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公开(公告)号：US20210191393A1
公开(公告)日：2021-06-24
申请号：US16338398
申请日：2019-03-28
摘要： The disclosure describes various embodiments for monitoring safety of an autonomous driving vehicle (ADV. In one embodiment, a method includes the operations of receiving, by a vehicle controller, one or more error message from a patrol module, the one or more error messages generated by an autonomous driving system of the ADV operating in an autonomous mode, the patrol module monitoring the autonomous driving system; evaluating a status of the autonomous driving system based on the one or more error messages; and keeping the ADV in the autonomous mode or switching it to a manual mode based on the status of the autonomous driving system.
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公开(公告)号：US20210188309A1
公开(公告)日：2021-06-24
申请号：US16338461
申请日：2019-03-29
发明人： Fan ZHU , Lin MA , Xin XU , Jingao WANG
IPC分类号： B60W60/00 , B60W40/072 , G01C21/34 , G01C21/00
摘要： In one embodiment, a method for generating a reference line for operating an autonomous driving vehicle includes determining a first ending reference point having a smallest curvature among a plurality of points within a first defined distance along a path, generating a first reference line based on a first initial reference point and the first ending reference point, determining a second ending reference point having a smallest curvature among a plurality of points within a second defined distance along the path, generating a second reference line based on the first and second ending reference points and an end section of the first reference line, connecting the first and second reference lines, and controlling the autonomous driving vehicle along the connected first reference line and the second reference line.
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公开(公告)号：US20210188307A1
公开(公告)日：2021-06-24
申请号：US16314371
申请日：2018-12-26
摘要： In one embodiment, a path for parking is planned in operating an autonomous driving vehicle (ADV). The operations comprises: determining a plurality of sample points; determining a plurality of candidate paths connecting a start point and an end point for parking, each of the candidate paths passing through one of the sample points; determining a cost associated with each of the plurality of candidate paths; determining one or more candidate paths from the plurality of candidate paths that meet a boundary check requirement; selecting as the planned path a candidate path associated with a lowest cost that meets the boundary check requirement; determining a speed profile based on the planned path and an environment of the ADV; and generating driving signals based at least in part on the speed profile to control operations of the ADV to perform parking along the planned path.
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