公开(公告)号：US20240101081A1

公开(公告)日：2024-03-28

申请号：US17952124

申请日：2022-09-23

Applicant: Baidu USA LLC

Inventor： BAOPING YUAN ,  TIANJIA SUN ,  YAOMING SHEN

IPC: B60T7/22 ,  B60W10/18 ,  B60W30/182 ,  B60W60/00

CPC classification number: B60T7/22 ,  B60W10/18 ,  B60W30/182 ,  B60W60/0015 ,  B60T2201/022

Abstract: In one embodiment, a system determines selection parameters to apply an adaptive braking scheme for an autonomous driving vehicle (ADV). The system determines a brake mode based on the selection parameters using a driving scenario mapping table. In response to determining that a brake is to be applied, the system applies a brake for the ADV according to the brake mode. The brake can be applied in three stages, where the three stages include a brake pre-charge stage, an increasing rate of deceleration stage, and a constant rate of deceleration stage for the adaptive braking scheme.

公开(公告)号：US20240101079A1

公开(公告)日：2024-03-28

申请号：US17952112

申请日：2022-09-23

Applicant: Baidu USA LLC

Inventor： BAOPING YUAN ,  TIANJIA SUN ,  YAOMING SHEN

IPC: B60T7/12 ,  B60T8/88 ,  B60T8/92 ,  B60T17/22 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18 ,  B60W60/00

CPC classification number: B60T7/12 ,  B60T8/885 ,  B60T8/92 ,  B60T17/22 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18109 ,  B60W60/0016 ,  B60T2210/12 ,  B60T2210/20 ,  B60T2210/32 ,  B60T2250/00 ,  B60T2250/02 ,  B60T2250/04 ,  B60T2270/402 ,  B60T2270/404 ,  B60T2270/406 ,  B60T2270/413 ,  B60T2270/82 ,  B60W2510/18 ,  B60W2520/10 ,  B60W2530/10 ,  B60W2540/01 ,  B60W2552/15 ,  B60W2552/40 ,  B60W2555/20 ,  B60W2710/0605 ,  B60W2710/10 ,  B60W2710/18 ,  B60W2710/20

Abstract: In one embodiment, a system determines activation parameters for an autonomous driving vehicle (ADV), where the activation parameters include historical usages of a primary brake system or a secondary brake system. In response to determining that a brake is to be applied, the system determines whether to activate a primary or a secondary brake system based on the activation parameters. The system sends an activation flag to activate the primary or the secondary brake system based on the determining whether to activate the primary or the secondary brake system. The system sends a brake command to the primary and the secondary brake system to activate either the primary or the secondary brake system according to the activation flag.

公开(公告)号：US20240101087A1

公开(公告)日：2024-03-28

申请号：US17952127

申请日：2022-09-23

Applicant: Baidu USA LLC

Inventor： BAOPING YUAN ,  TIANJIA SUN ,  YAOMING SHEN

IPC: B60T8/88 ,  B60W60/00

CPC classification number: B60T8/885 ,  B60W60/0015 ,  B60T2201/12 ,  B60T2270/10 ,  B60T2270/402 ,  B60T2270/413

Abstract: In one embodiment, a system determines a signal fault at a communication bus of an autonomous driving vehicle (ADV). In response to determining the signal fault, the system sends a brake pre-charge command to a brake system of the ADV to pre-charge a brake of the ADV. The system determines a preset tolerance time to validate the signal fault. In response to a time elapse of the preset tolerance time, the system validates the signal fault at the communication bus or determine a signal fault at another communication bus. In response to validating the signal fault at the communication bus or determining the signal fault at the another communication bus, the system sends a brake command to the brake system of the ADV to engage brakes for the ADV.

公开(公告)号：US20240353545A1

公开(公告)日：2024-10-24

申请号：US18000310

申请日：2022-09-27

Applicant: Baidu USA LLC ,  APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： TIANJIA SUN ,  WEILIANG SUN ,  YAOMING SHEN ,  SHULI YIN ,  BAOPING YUAN

IPC: G01S7/497 ,  B60W60/00 ,  G01S17/931

CPC classification number: G01S7/497 ,  B60W60/001 ,  G01S17/931 ,  B60W2420/408 ,  B60W2556/45

Abstract: In one embodiment, a system obtains first point cloud data generated by a first scanner device of a first autonomous driving vehicle (ADV). The system applies one or more abnormality detection algorithms to the first point cloud data to determine an abnormality in the first point cloud data. The system determines an abnormality type for the abnormality. The system determines the abnormality is above a severity threshold based on the abnormality type. In response to determining that the abnormality is above the severity threshold, the system indicates a warning to inspect the first scanner device for any hardware malfunctions.

公开(公告)号：US20240101083A1

公开(公告)日：2024-03-28

申请号：US17934116

申请日：2022-09-21

Applicant: Baidu USA LLC

Inventor： BAOPING YUAN ,  YAOMING SHEN

IPC: B60T8/172 ,  B60T13/74 ,  B60T17/22

CPC classification number: B60T8/172 ,  B60T13/745 ,  B60T17/22 ,  B60T2201/06 ,  B60T2210/20

Abstract: This disclosure provides systems and methods for electrical power conservation during braking for autonomous or assisted driving vehicles, such as when electrical currents are continuously supplied to the brake system when the vehicle is temporarily halted at a slope. Braking hysteresis is the relationship between the input (e.g., operating pressure, caused by an electrical motor to increase the fluid pressures in the brake system) and the output (e.g., braking pressure applied by the brake pads on the rotors), in which the change of the output is different during the increase of the input and during the decrease of the input. The present disclosure provides techniques for conserving electrical power consumption by using the brake hysteresis.

公开(公告)号：US20230399029A1

公开(公告)日：2023-12-14

申请号：US17809995

申请日：2022-06-30

Applicant: Baidu USA LLC

Inventor： BAOPING YUAN ,  TIANJIA SUN ,  YAOMING SHEN

IPC: B60W60/00 ,  B60W50/10 ,  B60T8/32

CPC classification number: B60W60/0053 ,  B60W50/10 ,  B60T8/3265 ,  B60W2050/0008

Abstract: In an embodiment, a brake control system determines a brake pedal travel value and a brake actuation position based on a brake pedal travel sensor and a motor actuation sensor of an autonomous driving vehicle (ADV). The brake control system determines a first threshold value based on the brake actuation position. The brake control system determines a deviation of the observed brake pedal travel value from the brake actuation position or the raw brake pedal sensor value are above the first threshold value and detects an intention of an operator to apply a brake control in response to determining that the deviation is above the first threshold value. This way, brake intervention can be detected prior to steady state and detection of an operator intervention is robust and reliable.

公开(公告)号：US20200166615A1

公开(公告)日：2020-05-28

申请号：US16201981

申请日：2018-11-27

Applicant: Baidu USA LLC

Inventor： TIANJIA SUN ,  YAOMING SHEN ,  XIANGFEI ZHOU ,  YANG HAN

IPC: G01S7/481 ,  G01S17/93 ,  G05D1/02

Abstract: In one embodiment, a LIDAR device of an autonomous driving vehicle (ADV) includes an array of light emitters to emit a number of light beams to sense a physical range associated with a target. The LIDAR device further includes a slope mirror having a slope surface and a flat surface supported by a rotatable platform. The rotatable platform is configured to rotate with respect to a vertical axis perpendicular to the flat surface. The light emitters are configured to project the light beams onto the slope surface of the slope mirror, which are deflected towards the target. The slope mirror rotates along with the rotatable platform while the array of light emitters remains steady. The LIDAR device further includes one or more light detectors to receive at least a portion of the light beams reflected from the target.