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1.发明申请公开(公告)号：US20190086932A1
公开(公告)日：2019-03-21
申请号：US15707236
申请日：2017-09-18
申请人： Baidu USA LLC
发明人： Haoyang FAN , Liangliang ZHANG , Yajia ZHANG , Weicheng ZHU , Yifei JIANG , Qi LUO , Jiangtao HU , Qi KONG
摘要： According to some embodiments, a system determines a number of boundary areas having predetermined dimensions centered around each of a number of control points of a first reference line. The system selects a number of two-dimensional polynomials each representing a segment of an optimal reference line between adjacent control points. The system defines a set of constraints to the two-dimensional polynomials to at least ensure the two-dimensional polynomials passes through each of the boundary areas. The system performs a quadratic programming (QP) optimization on a target function such that a total cost of the target function reaches minimum while the set of constraints are satisfied. The system generates a second reference line representing the optimal reference line based on the QP optimization to control the ADV autonomously according to the second reference line.
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公开(公告)号：US20210278849A1
公开(公告)日：2021-09-09
申请号：US16099675
申请日：2018-09-28
申请人： Baidu USA LLC
发明人： Fan ZHU , Lin MA , Weicheng ZHU
摘要： According to one embodiment, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV capturing a plurality of obstacles near the ADV. The system generates a first tunnel based on a width of a road lane for the ADV, where the first tunnel represents a passable lane for the ADV to travel through. The system generates one or more additional tunnels based on locations of the obstacles, where the one or more additional tunnels modify a width of the passable lane according to a level of invasiveness of the obstacles. The system generates a trajectory of the ADV based on the first and the additional tunnels to control the ADV according to the trajectory to navigate around the obstacles without collision.
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3.发明申请公开(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
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.
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公开(公告)号：US20210163037A1
公开(公告)日：2021-06-03
申请号：US16067556
申请日：2018-04-18
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
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.
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5.发明申请公开(公告)号：US20190086930A1
公开(公告)日：2019-03-21
申请号：US15707296
申请日：2017-09-18
申请人： Baidu USA LLC
发明人： Haoyang FAN , Liangliang ZHANG , Yajia ZHANG , Weicheng ZHU , Yifei JIANG , Qi LUO , Jiangtao HU , Qi KONG
IPC分类号： G05D1/02 , G05D1/00 , B60W30/12 , G08G1/16 , B60W40/072
摘要： According to some embodiments, a system selects a number of polynomials representing a number of time segments of a time duration to complete the path trajectory. The system selects an objective function based on a number of cost functions to smooth speeds between the time segments. The system defines a set of constraints to the polynomials to at least ensure the polynomials are smoothly joined together. The system performs a quadratic programming (QP) optimization on the objective function in view of the set of constraints, such that a cost associated with the objective function reaches a minimum while the set of constraints are satisfied. The system generates a smooth speed for the time duration based on the optimized objective function to control the ADV autonomously.
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6.发明申请公开(公告)号：US20190086925A1
公开(公告)日：2019-03-21
申请号：US15707253
申请日：2017-09-18
申请人： Baidu USA LLC
发明人： Haoyang FAN , Liangliang ZHANG , Yajia ZHANG , Weicheng ZHU , Yifei JIANG , Qi LUO , Jiangtao HU , Qi KONG
摘要： According to some embodiments, a system segments a first path trajectory selected from an initial location of the ADV into a number of path segments, where each path segment is represented by a polynomial function. The system selects an objective function in view of the polynomial functions of the path segments for smoothing connections between the path segments. The system defines a set of constraints to the polynomial functions based on adjacent path segments in view of at least a road boundary and an obstacle perceived by the ADV. The system performs a quadratic programming (QP) optimization on the objective function in view of the added constraints, such that an output of the objective function reaches a minimum. The system generates a second path trajectory representing a path trajectory with an optimized objective function based on the QP optimization to control the ADV autonomously.
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7.发明申请公开(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.
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8.发明申请公开(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
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.
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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
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.
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