专利检索 ap:("Baidu.com Times Technology (Beijing) Co., Ltd." OR "Baidu USA LLC") AND inv:"YANG, Guang" 第 1 页

1.

发明公开
METHOD AND SYSTEM FOR DETERMINING ROAD FRICTIONS OF AUTONOMOUS DRIVING VEHICLES USING LEARNING-BASED MODEL PREDICTIVE CONTROL 审中-公开

公开(公告)号：EP3562725A1

公开(公告)日：2019-11-06

申请号：EP17844575.5

申请日：2017-01-13

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

发明人： LUO, Qi , ZHU, Fan , HU, Sen , KONG, Qi , YU, Xiang , ZHU, Zhenguang , PAN, Yuchang , YANG, Wenli , YANG, Guang

IPC分类号： B60W40/068

2.

发明公开
METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS DRIVING VEHICLE REENTERING AUTONOMOUS DRIVING MODE 审中-公开

公开(公告)号：EP3390189A1

公开(公告)日：2018-10-24

申请号：EP17829575.4

申请日：2017-03-10

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

发明人： LUO, Qi , KONG, Qi , ZHU, Fan , HU, Sen , YU, Xiang , ZHU, Zhenguang , PAN, Yuchang , HE, Jiarui , FAN, Haoyang , YANG, Guang , WANG, Jingao

IPC分类号： B60W50/08 , B60W30/14

CPC分类号： G05D1/0223 , B60W30/143 , B60W50/082 , B60W2050/0074 , B60W2050/0096 , B60W2510/0657 , B60W2520/10 , B60W2520/105 , B60W2540/10 , B60W2720/106 , G05D1/00 , G05D1/0061 , G05D2201/0213

摘要： When an ADV is detected to transition from a manual driving mode to an autonomous driving mode, a first pedal value corresponding to a speed of the ADV at a previous command cycle during which the ADV was operating in the manual driving mode is determined. A second pedal value is determined based on a target speed of the ADV at a current command cycle during which the ADV is operating in an autonomous driving mode. A pedal value represents a pedal percentage of a maximum pedal pressure or maximum pedal pressed distance of a throttle pedal or brake pedal from a neutral position. A speed command is generated and issued to the ADV based on the first pedal value and the second pedal value, such that the ADV runs in a similar acceleration before and after switching from the manual driving mode to the autonomous driving mode.

3.

发明授权
METHOD AND SYSTEM FOR UPDATING MAPS BASED ON CONTROL FEEDBACKS OF AUTONOMOUS DRIVING VEHICLES 有权

公开(公告)号：EP3423787B1

公开(公告)日：2020-01-29

申请号：EP17847788.1

申请日：2017-05-22

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

发明人： HU, Sen , ZHU, Fan , KONG, Qi , LUO, Qi , YU, Xiang , ZHU, Zhenguang , FU, Xiaoxin , HE, Jiarui , LI, Hongye , PAN, Yuchang , XIA, Zhongpu , ZHAO, Chunming , YANG, Guang , WANG, Jingao

IPC分类号： G01C21/32 , G05D1/00 , G05D1/02 , B60W40/00

4.

发明公开
DECELERATION CURB-BASED DIRECTION CHECKING AND LANE KEEPING SYSTEM FOR AUTONOMOUS DRIVING VEHICLES 审中-公开

公开(公告)号：EP3405374A1

公开(公告)日：2018-11-28

申请号：EP17844616.7

申请日：2017-03-30

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

发明人： ZHU, Fan , KONG, Qi , LUO, Qi , YU, Xiang , HU, Sen , ZHU, Zhenguang , FU, Xiaoxin , HE, Jiarui , LI, Hongye , PAN, Yuchang , XIA, Zhongpu , ZHAO, Chunming , YANG, Guang , WANG, Jingao

IPC分类号： B60W30/12

摘要： A lane departure detection system detects that an autonomous driving vehicle (ADV) is departing from the lane in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb such as a speed bump laid across the lane. When the ADV contacts the deceleration curb, the lane departure detection system detects and calculates an angle of a moving direction of the ADV vs a longitudinal direction of the deceleration curb. Based on the angle, the system calculates how much the moving direction of the ADV is off compared to a lane direction of the lane. The lane direction is typically substantially perpendicular to the longitudinal direction of the deceleration curb. A control command such as a speed control command and/or a steering control command is generated based on the angle to correct the moving direction of the ADV.

5.

发明授权
AUTOMATIC STEERING CONTROL REFERENCE ADAPTION TO RESOLVE UNDERSTEERING OF AUTONOMOUS DRIVING VEHICLES 有权

公开(公告)号：EP3391004B1

公开(公告)日：2020-04-22

申请号：EP17832899.3

申请日：2017-03-10

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

发明人： LUO, Qi , KONG, Qi , ZHU, Fan , HU, Sen , YU, Xiang , ZHU, Zhenguang , PAN, Yuchang , HE, Jiarui , FAN, Haoyang , YANG, Guang , WANG, Jingao

IPC分类号： G01M1/12 , G01G19/02 , B60W40/13 , B60W30/045 , B62D6/00 , B62D7/15 , B62D15/02 , B60W50/00

6.

发明公开
METHOD AND SYSTEM FOR STEERING CONTROL OF AN AUTONOMOUS VEHICLE USING PROPORTIONAL, INTEGRAL, AND DERIVATIVE (PID) CONTROLLER 审中-公开

公开(公告)号：EP3350661A1

公开(公告)日：2018-07-25

申请号：EP16892933.9

申请日：2016-11-24

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

发明人： ZHU, Fan , KONG, Qi , YU, Xiang , HU, Sen , LUO, Qi , ZHU, Zhenguang , PAN, Yuchang , YANG, Wenli , YANG, Guang , WANG, Jingao

IPC分类号： G05D1/02

CPC分类号： B62D6/002 , B62D6/02 , B62D15/025 , B62D15/0265 , G05B19/402 , G05B2219/42033

摘要： In one embodiment, an autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.

7.

发明公开
METHOD AND SYSTEM FOR AUTONOMOUS VEHICLE SPEED FOLLOWING 审中-公开

公开(公告)号：EP3341254A1

公开(公告)日：2018-07-04

申请号：EP16892934.7

申请日：2016-11-17

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

发明人： ZHU, Fan , KONG, Qi , YU, Xiang , HU, Sen , LUO, Qi , ZHU, Zhenguang , PAN, Yuchang , YANG, Wenli , YANG, Guang , WANG, Jingao

IPC分类号： B60W30/00 , B60W30/14 , G05D1/02 , B60W50/00

CPC分类号： G05D1/0223 , B60W30/143 , B60W40/02 , B60W2050/0011 , B60W2520/403 , B60W2530/16 , B60W2550/12 , B60W2550/148 , B60W2710/0666 , B60W2710/083 , B60W2720/10 , B60W2720/106 , G05D1/0088

摘要： In one embodiment, an autonomous driving vehicle (ADV) speed following system determines how much and when to apply a throttle or a brake control of an ADV to maneuver the ADV around, or to avoid, obstacles of a planned route. The speed following system calculates a first torque force to accelerate the ADV, a second torque force to counteract frictional forces and wind resistances to maintain a reference speed, and a third torque force to minimize an initial difference and external disturbances thereafter between predefined target speed and actual speed of the ADV over a planned route. The speed following system determines a throttle-brake torque force based on the first, second, and third torque forces and utilizes the throttle-brake torque force to control a subsequent speed of the ADV.