-
公开(公告)号：US20220315046A1
公开(公告)日：2022-10-06
申请号：US16627257
申请日：2019-12-20
发明人： Shu JIANG , Qi LUO , Jinghao MIAO , Jiangtao HU , Yu WANG , Jiaxuan XU , Jinyun ZHOU , Kuang HU , Chao MA
摘要： In one embodiment, simulation of an autonomous driving vehicle (ADV) includes capturing first data that includes a control command output by an autonomous vehicle controller of the ADV, and capturing second data that includes the control command being implemented at a control unit of the ADV. The control command, for example, a steering command, a braking command, or a throttle command, is implemented by the ADV to affect movement of the ADV. A latency model is determined based on comparing the first data with the second data, where the latency model defines time delay and/or amplitude difference between the first data and the second data. The latency model is applied in a virtual driving environment.
-
公开(公告)号：US20210183221A1
公开(公告)日：2021-06-17
申请号：US16074081
申请日：2018-06-29
发明人： Yiqun FU , Liangliang ZHANG , Shengxiang LIU , Jiangtao HU
IPC分类号： G08B13/196 , B60R25/31 , B60R25/102
摘要： Various techniques for theft proofing autonomous driving vehicles (ADV) for transporting goods are described. In one embodiment, sensor data of a moving object representing a person within a predetermined proximity of an ADV are captured for real-time analysis by a theft detection module, to determine a moving behavior of the moving object based on the sensor data in view of a set of known moving behaviors. The theft detection module further determines whether an intention of the person is likely to remove at least some of the goods from the ADV using a process derived from historical image set, and sends an alarm to a predetermined destination in response to determining such an intention of the person. Other sensor data, for example, real time movements and weights of the ADV, can be used in conjunction with the process derived from historical image sets to determine the intention of the person.
-
公开(公告)号：US20230065284A1
公开(公告)日：2023-03-02
申请号：US17446652
申请日：2021-09-01
申请人： Baidu USA LLC
发明人： Shu JIANG , Weiman LIN , Yu CAO , Yu WANG , Qi LUO , Jiangtao HU , Jinghao MIAO
IPC分类号： B60W30/09 , B60W60/00 , B60W30/095
摘要： Systems, methods, and media for factoring localization uncertainty of an ADV into its planning and control process to increase the safety of the ADV. The uncertainty of the localization can be caused by sensor inaccuracy, map matching algorithm inaccuracy, and/or speed uncertainty. The localization uncertainty can have negative impact on trajectory planning and vehicle control. Embodiments described herein are intended to increase the safety of the ADV by considering localization uncertainty in trajectory planning and vehicle control. An exemplary method includes determining a confidence region for an ADV that is automatically driving on a road segment based on localization uncertainty and speed uncertainty; determining that an object is within the confidence region, and a probability of collision with the ADV based on a distance of the object to the ADV; and planning a trajectory based on the probability of collision, and controlling the ADV based on the probability of collision.
-
公开(公告)号：US20210253118A1
公开(公告)日：2021-08-19
申请号：US16790036
申请日：2020-02-13
申请人： Baidu USA LLC
发明人： Yu WANG , Qi LUO , Shu JIANG , Jinghao MIAO , Jiangtao HU , Jingao WANG , Jinyun ZHOU , Jiaxuan XU
IPC分类号： B60W50/08 , B60W50/035
摘要： Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.
-
公开(公告)号：US20210139022A1
公开(公告)日：2021-05-13
申请号：US16678387
申请日：2019-11-08
申请人： Baidu USA LLC
发明人： Jiaming TAO , Jiaxuan XU , Jiacheng PAN , Jinyun ZHOU , Hongyi SUN , Yifei JIANG , Jiangtao HU
IPC分类号： B60W30/095 , B60W30/09 , B60W30/18 , G05D1/00 , G06K9/00
摘要： In one embodiment, a process is performed during controlling Autonomous Driving Vehicle (ADV). A confidence level associated with a sensed obstacle is determined. If the confidence level is below a confidence threshold, and a distance between the ADV and a potential point of contact with the sensed obstacle is below a distance threshold, then performance of a driving decision is delayed. Otherwise, the driving decision is performed to reduce risk of contact with the sensed obstacle.
-
公开(公告)号：US20200342693A1
公开(公告)日：2020-10-29
申请号：US16397633
申请日：2019-04-29
申请人： Baidu USA LLC
发明人： Shu JIANG , Qi LUO , Jinghao MIAO , Jiangtao HU , Weiman LIN , Jiaxuan XU , Yu WANG , Jinyun ZHOU , Runxin HE
摘要： An autonomous driving vehicle (ADV) receives instructions for a human test driver to drive the ADV in manual mode and to collect a specified amount of driving data for one or more specified driving categories. As the user drivers the ADV in manual mode, driving data corresponding to the one or more driving categories is logged. A user interface of the ADV displays the one or more driving categories that the human driver is instructed collect data upon, and a progress indicator for each of these categories as the human driving progresses. The driving data is uploaded to a server for machine learning. If the server machine learning achieves a threshold grading amount of the uploaded data to variables of a dynamic self-driving model, then the server generates an ADV self-driving model, and distributes the model to one or more ADVs that are navigated in the self-driving mode.
-
公开(公告)号：US20240034353A1
公开(公告)日：2024-02-01
申请号：US17815881
申请日：2022-07-28
申请人： Baidu USA LLC
发明人： Yu CAO , Weiman LIN , Shu JIANG , Szu Hao WU , Jiangtao HU
CPC分类号： B60W60/0011 , B60W40/06
摘要： Embodiments of the invention are provided to automatically generate corner simulation scenarios. In an embodiment, an exemplary method includes performing the following operations for a predetermined number of iterations for each set of predefined parameters. The operations include generating a set of parameter values for the set of predefined parameters; determining whether the set of parameter values is valid or invalid based on a set of predefined metrics; and if the set of parameter values is valid, performing a simulation task to simulate a trajectory planner of the ADV in a simulation scenario configured by the set of parameter values. The method further includes calculating a performance score for the simulation task; and if the performance score of the simulation task is below a predetermined threshold, saving the set of parameter values in a storage, wherein the set of parameter values is used for re-tuning the trajectory planner.
-
公开(公告)号：US20220223037A1
公开(公告)日：2022-07-14
申请号：US17149659
申请日：2021-01-14
申请人： Baidu USA LLC
发明人： Kecheng XU , Hongyi SUN , Qi LUO , Wei WANG , Zejun LIN , Wesley REYNOLDS , Feng LIU , Jiangtao HU , Jinghao MIAO
IPC分类号： G08G1/0967 , G08G1/01 , G08G1/04 , G08G1/133 , G08G1/0965 , G06N3/04
摘要： According to various embodiments, systems, methods, and mediums for operating an autonomous driving vehicles (ADV) are described. The embodiments use a number of machine learning models to extract features individually from audio data and visual data captured by sensors mounted on the ADV, and then to fuse these extracted features to create a concatenated feature vectors. The concatenated feature vector is provided to a multiplayer perceptron (MLP) as input to generate a detection result related to the presence of an emergency vehicle in the surrounding environment. The detection result can be used by the ADV to take appropriate actions to comply with the local traffic rules.
-
公开(公告)号：US20220097728A1
公开(公告)日：2022-03-31
申请号：US17039685
申请日：2020-09-30
申请人： Baidu USA LLC
发明人： Weiman LIN , Yu CAO , Yu WANG , Qi LUO , Shu JIANG , Xiangquan XIAO , Longtao LIN , Jinghao MIAO , Jiangtao HU
摘要： Systems and methods are disclosed for optimizing values of a set of tunable parameters of an autonomous driving vehicle (ADV). The controllers can be a linear quadratic regular, a “bicycle model,” a model-reference adaptive controller (MRAC) that reduces actuation latency in control subsystems such as steering, braking, and throttle, or other controller (“controllers”). An optimizer selects a set tunable parameters for the controllers. A task distribution system pairs each set of parameters with each of a plurality of simulated driving scenarios, and dispatches a task to the simulator to perform the simulation with the set of parameters. Each simulation is scored. A weighted score is generated from the simulation. The optimizer uses the weighted score as a target objective for a next iteration of the optimizer, for a fixed number of iterations. A physical real-world ADV is navigated using the optimized set of parameters for the controllers in the ADV.
-
公开(公告)号：US20210197865A1
公开(公告)日：2021-07-01
申请号：US16727799
申请日：2019-12-26
申请人： Baidu USA LLC
发明人： Jinyun ZHOU , Shu JIANG , Jiaming TAO , Qi LUO , Jinghao MIAO , Jiangtao HU , Jiaxuan XU , Yu WANG
摘要： In one embodiment, an autonomous driving vehicle (ADV) operates in an on-lane mode, where the ADV follows a path along a vehicle lane. In response to determining that the ADV is approaching a dead-end, the ADV switches to an open-space mode. While in the open-space mode, the ADV conducts a three-point turn using a series of steering and throttle commands to generate forward and reverse movements until the ADV is within a) a threshold heading, and b) a threshold distance, relative to the vehicle lane. The ADV can then return to the on-lane mode and resume along the vehicle lane away from the dead-end.
-
-
-
-
-
-
-
-
-
搜索结果
37 条记录 (耗时 0.023 秒)
