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公开(公告)号：US20210200222A1
公开(公告)日：2021-07-01
申请号：US16730197
申请日：2019-12-30
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: A method, apparatus, and system for determining average lane travel speeds is disclosed. A plurality of vehicles traveling in a same direction as the ADV in a plurality of lanes are identified. Over a first time period, the plurality of vehicles is tracked. At least a first quantity of representative vehicles within the plurality of vehicles that are representative of vehicles traveling in the lane over the first time period are identified. For each of the plurality of lanes, an average speed over the first time period of the representative vehicles associated with the lane is determined. A trajectory is planned for the ADV, wherein the planned trajectory moves toward a lane whose representative vehicles have a fastest average speed. Thereafter, control signals are generated to control operations of the ADV based on the planned trajectory.
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公开(公告)号：US20210188319A1
公开(公告)日：2021-06-24
申请号：US16627748
申请日：2019-12-20
Abstract: Various embodiments of the invention enable an ADV to dynamically adjust its behaviors to emulate behaviors of a vehicle operated by a human driver when the ADV encounters an obstacle. A dynamic cost function can be used to collect real-time values of a set of parameters, and use the real-time values to constantly adjust a preferred safety distance where the ADV can be stopped ahead of the obstacle. An method includes determining a first distance to the obstacle in response to detecting an obstacle ahead of the ADV; and for each of a number of iterations, collecting a real-time value for each of a set of parameters, determining an offset to the first distance using the real-time value for each of the set of parameters, calculating a second distance based on the first distance and the offset, and controlling the ADV in view of the second distance using an expected value of each of the set of parameters, such that the ADV can stop at a point having the second distance to the obstacle.
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公开(公告)号：US20190079524A1
公开(公告)日：2019-03-14
申请号：US15702683
申请日：2017-09-12
Applicant: Baidu USA LLC
Abstract: In one embodiment, a routing request is received for routing an autonomous driving vehicle (ADV) from a source lane to a target lane. One or more road paths are determined from a source road to a target road. The road paths include zero or more intermediate roads in between, where each intermediate road includes one or more intermediate lanes. For each of the road paths, one or more lane paths are determined. Each lane path includes a number of lanes in combination to connect the source lane of the source road to the target lane of the target road via at least one of the intermediate lanes of the intermediate roads. A trajectory is planned from the source plane of the source road to the target lane of the target road using the lane paths to drive the ADV according to the trajectory.
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公开(公告)号：US20190079523A1
公开(公告)日：2019-03-14
申请号：US15701411
申请日：2017-09-11
Applicant: Baidu USA LLC
Inventor： FAN ZHU , QI KONG , WEICHENG ZHU , HAOYANG FAN , LI ZHUANG
Abstract: According to some embodiments, a system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and an obstacle information describing one or more obstacles perceived by the ADV. The system generates a speed profile based on the path profile, where the speed profile includes, for each of the obstacles, a decision to yield or overtake the obstacle. The system performs a quadratic programming optimization on the path profile and the speed profile to identify an optimal path with optimal speeds. The system generates a second trajectory based on the optimal path and optimal speeds to control the ADV autonomously according to the second trajectory.
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公开(公告)号：US20180086351A1
公开(公告)日：2018-03-29
申请号：US15278439
申请日：2016-09-28
Applicant: Baidu USA LLC
Inventor： FAN ZHU , QI KONG , GUANG YANG , JINGAO WANG
CPC classification number: B60W50/06 , B60W2050/0002 , G05D1/0212 , G05D2201/0213
Abstract: In one embodiment, a steering control delay is measured, where the steering delay represents the delay between the time of issuing a steering control command and the time of a response from one or more wheels of an autonomous vehicle. A speed control delay is measured between the time of issuing a speed control command and the time of a response from one or more wheels of the autonomous vehicle or the time of supplying pressure to the gas pedal or brake pedal. In response to a given route subsequently, an overall system delay is determined based on the steering control delay and the speed control delay using a predetermined algorithm. Planning and control data is generated in view of the system delay for operating the autonomous vehicle.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20180011876A1
公开(公告)日：2018-01-11
申请号：US15202514
申请日：2016-07-05
Applicant: Baidu USA LLC
Inventor： DONG LI , YIFEI JIANG , FAN ZHU , QI KONG , SHUANG WU , GUANG YANG , JINGAO WANG
IPC: G06F17/30
Abstract: According to one embodiment, in response to a search query received from a client, a search is performed in a content database to identify a list of one or more content items based on one or more keywords of the search query. A first search is performed in an image store to identify a first set of one or more images using a first image searching method. A second search is performed in the image store to identify a second set of one or more images using a second image searching method that is different than the first image searching method. A search result is transmitted to the client, the search result having at least a portion of the content items to the client. Each content item is associated with one of the images selected from the first set of images or the second set of images.
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公开(公告)号：US20210155237A1
公开(公告)日：2021-05-27
申请号：US16693054
申请日：2019-11-22
IPC: B60W30/18 , B60W40/105 , G06K9/00
Abstract: In one embodiment, it is determined that a speed of an autonomous driving vehicle (ADV) is below a predetermined speed threshold during a current turn section of a three-point turn, where the three-point turn includes at least three turn sections. In response, detecting an obstacle within a predetermined proximity of the ADV, determining a type of obstacle. An amount of time during which the speed of the ADV remains below the predetermined speed threshold is determined. It is determined whether the amount of time is greater than a time threshold corresponding to the type of the obstacle. If the amount of time is greater than the time threshold, the current turn section is ended and a next turn section is started.
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公开(公告)号：US20190241180A1
公开(公告)日：2019-08-08
申请号：US15891360
申请日：2018-02-07
Applicant: Baidu USA LLC
Inventor： FAN ZHU
CPC classification number: B60W30/12 , B60R11/04 , B60R2300/105 , B60R2300/804 , B62D15/025 , G05D1/0088 , G05D1/0246 , G05D2201/0213 , G06K9/00798 , G08G1/167
Abstract: A self-localization system is utilized in an ADV to determine a relative position within a lane using certain sensors mounted on a variety of locations of the vehicles. Certain cameras may be mounted on different locations of the vehicles to capture images with respect to the surrounding environment of the vehicle. Based on the captured images, distances between the vehicle and the edges of the lane may be determined using an image recognition process or algorithm. Based on the distances between the vehicle and the edges of the lane, the relative position of the vehicle within the lane can be determined. A relative position of a vehicle within a lane refers to an angle of a heading direction of the vehicle and a longitudinal vector of a center line or reference line of the lane, and a distance between the vehicle and the center line or reference line of the lane.
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公开(公告)号：US20190079514A1
公开(公告)日：2019-03-14
申请号：US15703882
申请日：2017-09-13
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: According to one aspect, a set of driving scenes are defined including, but are not limited to, a driving straight scene, a turning scene, a nudge scene, and a lane changing scene. For each of the predefined driving scenes, a list of path segments corresponding to a set of one or more features (e.g., speed, curvature, turning radius, relative distance, lane width, etc.) are determined based on the driving statistics of a number of vehicles driving through the same or similar driving scenes (e.g., driving straight, making turns, changing lanes, nudging obstacles or another vehicle) in the past. The path segments are then stored in a driving scene-to-path (scene/path) data structure specifically configured for the corresponding driving scene. For example, there will be at least one scene/path data structure for each of the driving straight scene, turning scene, nudge scene, and lane changing scene.
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公开(公告)号：US20180088590A1
公开(公告)日：2018-03-29
申请号：US15277822
申请日：2016-09-27
Applicant: Baidu USA LLC
Inventor： FAN ZHU , QI KONG , GUANG YANG , JINGAO WANG
CPC classification number: G05D1/0278 , B62D15/025 , B62D15/0265 , G01S19/38 , G05D1/027 , G05D2201/0213
Abstract: In one embodiment, a first position associated with a set of rear wheels of an autonomous vehicle is determined based on global positioning system (GPS) data received from a GPS source. A moving direction of the autonomous vehicle is determined based on directional data received from an inertial measurement unit (IMU) onboard. A second position associated with a set of front wheels of the autonomous vehicle is calculated based on the first position and the moving direction of the autonomous vehicle. A route segment of a route is planned based on the second position as a current position of the autonomous vehicle. Planning and control data is generated for the route segment. The autonomous vehicle is controlled and driven based on the planning and control data.
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