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公开(公告)号：US20240086264A1
公开(公告)日：2024-03-14
申请号：US17932203
申请日：2022-09-14
Applicant: Baidu USA LLC
Inventor： Haofeng KOU , Davy HUANG , Manjiang ZHANG , Helen K. PAN
Abstract: In one embodiment, a vehicle operating system (VOS) that can be partially ported to different types of microcontroller units (MCUs) includes at least one multiprocessor unit (MPU) with an operating system kernel running thereon, and at least one microcontroller unit (MCU) with multiple cores. Each core includes a set of unified application programming interfaces (APIs) for loading one or more MCU drivers corresponding to a type of the MCU, and one or more I/O drivers corresponding to a type of each of the one or more I/O devices associated with the MCU. The set of unified APIs includes at least one API for each service, and can vertically integrate a device path for the service from a hardware layer of the core to the service layer of the core. The VOS further includes multiple pairs of hardware-protected memories associated with each core to enable interprocess communication between the cores.
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公开(公告)号：US20210225167A1
公开(公告)日：2021-07-22
申请号：US16099862
申请日：2018-08-24
Inventor： Manjiang ZHANG , Xiangtao YOU , Davy HUANG , Tiffany ZHANG , Shuai WANG
Abstract: In one embodiment, a sensor unit to be utilized in an autonomous driving vehicle (ADV) includes a sensor interface that can be coupled to a number of sensors mounted on a number of different locations of the ADV. The sensor unit further includes a host interface that can be coupled to a host system such as a planning and control system utilized to autonomously drive the vehicle. The sensor unit further includes a number of data transfer modules corresponding to the sensors. Each of the data transfer modules can be configured to operate in one of the operating modes, dependent upon the type of the corresponding sensor. The operating modes include a low latency mode, a high bandwidth mode, and a memory mode.
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公开(公告)号：US20210024096A1
公开(公告)日：2021-01-28
申请号：US16485423
申请日：2019-07-22
Inventor： Shuai WANG , Shuangcheng GUO , Xianfei LI , Chongchong LI , Jian SHENG , Davy HUANG , Manjiang ZHANG
Abstract: The disclosure describes various embodiments for online system-level validation of sensor synchronization. According to an embodiment, an exemplary method of analyzing sensor synchronization in an autonomous driving vehicle (ADV) include the operations of acquiring raw sensor data from a first sensor and a second sensor mounted on the ADV, the raw sensor data describing a target object in a surrounding environment of the ADV; and generating an accuracy map based on the raw sensor data in view of timestamps extracted from the raw sensor data. The method further includes the operations of generating a first bounding box and a second bounding box around the target object using the raw sensor data; and performing an analysis of the first and second bounding boxes and the accuracy map using a predetermined algorithm in view of one or more pre-configured sensor settings to determine whether the first sensor and the second sensor are synchronized with each other.
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公开(公告)号：US20210019578A1
公开(公告)日：2021-01-21
申请号：US16513660
申请日：2019-07-16
Applicant: Baidu USA LLC
Inventor： Manjiang ZHANG , Kwan OH , Tiffany ZHANG , Yaoming SHEN , Jeongho LYU
Abstract: The disclosure describes various embodiments of validating data synchronization between an active sensor and a passive sensor. According to an exemplary method of validating sensor synchronization between an active sensor and a passive sensor, a synchronization device receives a first signal from the active sensor, the first signal indicating that the active sensor has transmitted laser points to a measure board. In response to the first signal, the synchronization device transmits a second signal to the passive sensor to trigger the passive sensor to capture an image of the measure board. A synchronization validation application can perform an analysis of the image of the measure board in view of timing of the first signal and second signal to determine whether the passive sensor and the active sensor are synchronized with each other.
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公开(公告)号：US20200064847A1
公开(公告)日：2020-02-27
申请号：US16112349
申请日：2018-08-24
Applicant: Baidu USA LLC
Inventor： Manjiang ZHANG , Oh KWAN , Tiffany ZHANG
Abstract: A sensor unit includes a sensor interface coupled to a number of sensors and a host interface coupled to a host system utilized to autonomously drive the vehicle. The sensor unit further includes sensor control modules corresponding to the sensors. Each sensor control module includes delay time control logic, delay adjustment logic, and a trigger signal generator. The delay time control logic is to receive a pulse time adjustment (PTA) value from the host system. The delay adjustment logic is to receive a trigger time adjustment (TTA) value from the host system. The delay adjustment logic is to modify timing of at least a portion of the pulses of a pulse signal based on the PTA value and the TTA value. The trigger signal generator is to generate a trigger signal based on the modified pulse signal and to transmit the trigger signal to a corresponding sensor.
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Patent Agency Ranking
公开(公告)号：US20240241261A1
公开(公告)日：2024-07-18
申请号：US18002015
申请日：2022-08-31
Inventor： Xianfei LI , Zirui HUANG , Manjiang ZHANG
IPC: G01S17/931 , B60W60/00 , G01S17/86 , G06T7/33 , G06T7/80
CPC classification number: G01S17/931 , B60W60/001 , G01S17/86 , G06T7/33 , G06T7/80 , B60W2420/403 , B60W2420/408 , G06T2207/30252
Abstract: In one aspect, a computing device of an autonomous driving vehicle (ADV) is configured to determine a first control signal for a light detection and ranging (Lidar) sensor of the ADV and a second control signal for a camera of the ADV, provide the first control signal to the Lidar sensor and the second control signal to the camera, and process Lidar output of the Lidar sensor and camera output of the camera to detect one or more features of the Lidar output or camera output. In response to detecting the one or more features, the computing device is to adjust the first control signal or the second control signal.
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公开(公告)号：US20210383133A1
公开(公告)日：2021-12-09
申请号：US16494738
申请日：2019-08-30
Inventor： Shuai WANG , Manjiang ZHANG , Yaoming SHEN , Xiangfei ZHOU , Lingchang LI , Xianfei LI
Abstract: In some implementations, a method of verifying operation of a sensor is provided. The method includes causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector. The method also includes determining that the detector has detected the waves at a second time. The method further includes receiving the sensor data from the sensor at a third time. The method further includes verifying operation of the sensor based on at least one of the first time, the second time, or the third time.
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8.发明申请公开(公告)号：US20200349361A1
公开(公告)日：2020-11-05
申请号：US16399457
申请日：2019-04-30
Applicant: Baidu USA LLC
Inventor： Kwan OH , Manjiang ZHANG , Min GUO , Tiffany Zhang , Chang SHU
Abstract: Flexible hardware designs for camera calibration and image pre-processing are disclosed for vehicles including autonomous driving (AD) vehicles. For one example, a sensor unit includes a sensor interface, host interface, and pre-processing hardware. The sensor interface is coupled to a plurality of cameras configured to capture images around an autonomous driving vehicle (ADV). The host interface is coupled to a perception and planning system. The pre-processing hardware is coupled to the sensor interface to receive images from the plurality of cameras and to perform one or more pre-processing functions on the images and to transmit pre-processed images to the perception and planning system via the host interface. The perception and planning system is configured to perceive a driving environment surrounding the ADV based on the pre-processed images and to plan a path to control the ADV to navigate through the driving environment. The pre-processing functions can adjust for different calibrations and formats across the plurality of cameras.
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9.发明申请公开(公告)号：US20200064861A1
公开(公告)日：2020-02-27
申请号：US16112219
申请日：2018-08-24
Applicant: Baidu USA LLC
Inventor： Manjiang ZHANG , Davy HUANG , Oh KWAN , Tiffany ZHANG
Abstract: In one embodiment, a system receives, at a sensor unit, a global positioning system (GPS) pulse signal from a GPS sensor of the autonomous driving vehicle (ADV), where the GPS pulse signal is a RF signal transmitted by a satellite to the GPS sensor, where the sensor unit is coupled to a number of sensors mounted on the ADV to perceive a driving environment surrounding the ADV and to plan a path to autonomously drive the ADV. The system receives a first local oscillator signal from a local oscillator. The system synchronizes the first local oscillator signal to the GPS pulse signal in real-time, including modifying the first local oscillator signal based on the GPS pulse signal. The system generates a second oscillator signal based on the synchronized first local oscillator signal, where the second oscillator signal is used to provide a time to at least one of the sensors.
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公开(公告)号：US20240045027A1
公开(公告)日：2024-02-08
申请号：US17880858
申请日：2022-08-04
Applicant: Baidu USA LLC
Inventor： Manjiang ZHANG , Guoli SHU
IPC: G01S7/48 , G01S17/931
CPC classification number: G01S7/4808 , G01S7/4802 , G01S17/931
Abstract: In an embodiment, an autonomous driving vehicle (ADV) determines a LIDAR type, from of a plurality of LIDAR types, of a LIDAR unit. Responsive to determining the LIDAR type of the LIDAR unit, the ADV configures an adaptive LIDAR data processing system based on the LIDAR type. The adaptive LIDAR data processing system supports each one of the plurality of LIDAR types. In turn, responsive to configuring the adaptive LIDAR data processing system, the ADV establishes communication between the LIDAR unit and a host system using the adaptive LIDAR data processing system.
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