公开(公告)号：US20180330173A1

公开(公告)日：2018-11-15

申请号：US15595529

申请日：2017-05-15

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Qi LUO ,  Xiang YU ,  Sen HU ,  Li ZHUANG ,  Liangliang ZHANG ,  Weicheng ZHU ,  Haoyang FAN ,  Yajia ZHANG ,  Guang YANG ,  Jingao WANG

IPC分类号： G06K9/00 ,  G05D1/02 ,  G06T17/05 ,  B60K31/00

摘要： When generating a control command of an autonomous driving vehicle (ADV), a pitch status and/or a roll status of the road is determined. The control command is adjusted based on the pitch status and the roll status. For example, when an ADV is driving on an uphill or downhill road, a pitch status of the road is determined and a speed control command will be generated based on the pitch status of the road, such that the ADV have a similar acceleration rate as of driving on a flat road. Similarly, when the ADV is driving on a road that is tilted or rolled left or right, a roll status of the road is determined and a steering control command will be generated in view of the roll status of the road, such that the ADV have a similar heading direction as of driving on a flat road.

公开(公告)号：US20210163037A1

公开(公告)日：2021-06-03

申请号：US16067556

申请日：2018-04-18

申请人： Baidu USA LLC ,  Baidu.com Times Technology (Beijing) Co., Ltd.

发明人： Fan ZHU ,  Qi KONG ,  Yuchang PAN ,  Feiyi JIANG ,  Xin XU ,  Xiaoxin FU ,  Zhongpu XIA ,  Chunming ZHAO ,  Liangliang ZHANG ,  Weicheng ZHU ,  Li ZHUANG ,  Haoyang FAN ,  Hui JIANG ,  Jiaming TAO

IPC分类号： B60W60/00 ,  G08G1/16 ,  B60W30/12 ,  B60W30/095 ,  B60W30/09 ,  B60W30/14 ,  G01C21/34

摘要： In one embodiment, instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.

公开(公告)号：US20190084571A1

公开(公告)日：2019-03-21

申请号：US15560148

申请日：2017-09-18

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Yuchang PAN ,  Fuxiao XIN ,  Hui JIANG ,  Li ZHUANG ,  Weicheng ZHU ,  Chunming ZHAO ,  Zhenguang ZHU ,  Jingao WANG ,  Haoyang FAN

IPC分类号： B60W30/18 ,  G05D1/00 ,  B60W10/20 ,  G08G1/0967 ,  G08G1/0968

摘要： In one embodiment, in response to a route from a source location to a target location, the route is analyzed to identify a list of one or more driving scenarios along the route that match one or more predetermined driving scenarios. The route is segmented into a list of route segments based on the driving scenarios. At least one of the route segments corresponds to one of the identified driving scenarios. A path is generated based on the route segments for driving an autonomous driving vehicle from the source location to the target location. The path includes a number of path segments corresponding to the route segments. At least one of the path segments of the path is determined based on a preconfigured path segment of a predetermined driving scenario associated with the path segment, without having to calculating the same at real time.

公开(公告)号：US20180364657A1

公开(公告)日：2018-12-20

申请号：US15627970

申请日：2017-06-20

申请人： Baidu USA LLC

发明人： Qi LUO ,  Qi KONG ,  Fan ZHU ,  Xiang YU ,  Sen HU ,  Li ZHUANG ,  Weicheng ZHU ,  Guang YANG ,  Jingao WANG

IPC分类号： G05B13/04 ,  G05D1/02 ,  G05D1/00

摘要： Driving parameters (e.g., speed, heading direction) that an autonomous driving vehicle (ADV) likely utilize as target driving parameters are grouped into a number of ranges and one of the driving parameters in each range is selected as a driving parameter representative or a target driving parameter representing the respective range or segment. For each of the target driving parameters representing the ranges, a particle swarm optimization method is utilized to derive a set of most optimized coefficients for a controller (e.g., speed controller, steering controller) for controlling an ADV. A driving parameter to coefficient (parameter/coefficient) mapping table is generated to map a particular driving parameter representing a range of driving parameter to a set of one or more coefficients of a particular controller. The parameter/coefficient mapping table is utilized at real-time to configure a controller in response to a particular target driving parameter using the corresponding coefficients.

公开(公告)号：US20180348761A1

公开(公告)日：2018-12-06

申请号：US15610064

申请日：2017-05-31

申请人： Baidu USA LLC

发明人： Weicheng ZHU ,  Li ZHUANG ,  Qi LUO ,  Qi KONG ,  Fan ZHU

IPC分类号： G05D1/00 ,  G05D1/02

CPC分类号： G05D1/0212 ,  B60W30/095 ,  B60W2550/402 ,  B62D15/025 ,  G01C21/34 ,  G08G1/163 ,  G08G1/167

摘要： In one embodiment, a computer system generates a first vehicular path based on map information. The system collects data points representing geographical coordinates of vehicles that drove on a vehicular path lane at different points in time. The system segments the first vehicular path into path segments based on the collected data points. For each of the path segments, the system applies a smoothing function to select a subset of the data points that are within a predetermined proximity of the corresponding path segment and calculates a segment reference point to represent the path segment by combining the selected data points. The segment reference points of the path segments of the first vehicular path are interpolated to generate a second vehicular path such that the second vehicular path is used as a reference line to control ADVs driving on the first vehicular path.