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1.发明申请公开(公告)号：US20180307234A1
公开(公告)日：2018-10-25
申请号：US15522218
申请日：2017-04-19
发明人： Fan ZHU , Qi KONG , Qi LUO , Xiang YU , Sen HU , Zhenguang ZHU , Xiaoxin FU , Jiarui HE , Hongye LI , Yuchang PAN , Zhongpu XIA , Chunming ZHAO , Guang YANG , Jingao WANG
CPC分类号： G05D1/0212 , G05D1/0088 , G05D1/0246 , G05D2201/0213
摘要： In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The system detects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lane based on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.
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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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3.发明申请公开(公告)号：US20180251135A1
公开(公告)日：2018-09-06
申请号：US15509181
申请日：2017-03-03
发明人： Qi LUO , Qi KONG , Fan ZHU , Sen HU , Xiang YU , Zhenguang ZHU , Yuchang PAN , Jiarui HE , Haoyang FAN , Guang YANG , Jingao WANG
CPC分类号： B60W50/08 , B60W30/143 , B60W50/082 , B60W2050/0074 , B60W2050/0096 , B60W2510/0657 , B60W2520/10 , B60W2520/105 , B60W2540/10 , B60W2550/402 , B60W2720/10 , B60W2720/106 , G05D1/0061 , G05D1/0088 , G05D1/0223 , G05D2201/0213
摘要： According to one embodiment, when an ADV transitions from a manual driving mode to an autonomous driving mode, a first speed reference is determined based on a current position of the ADV. The current position of the ADV is dynamically measured in response to a speed control command issued in a previous command cycle and a target speed of a current command cycle. A second speed reference is determined based on a current target position for a current command cycle. A speed control command is then generated for controlling the speed of the ADV in the autonomous driving mode based on the first speed reference, the second speed reference, and the target speed of the ADV for the current command cycle, such that the ADV operates in a similar acceleration rate or deceleration rate before and after transitioning from the manual driving mode to the autonomous driving mode.
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4.发明申请公开(公告)号：US20180304900A1
公开(公告)日：2018-10-25
申请号：US15327036
申请日：2017-01-13
发明人： Qi LUO , Fan ZHU , Sen HU , Qi KONG , Xiang YU , Zhenguang ZHU , Yuchang PAN , Wenli YANG , Guang YANG
IPC分类号： B60W40/068 , G01C21/34 , G08G1/0968 , G05D1/00
CPC分类号： B60W40/068 , B60W2050/0089 , B60W2520/10 , G01C21/3453 , G05D1/0088 , G05D2201/0213 , G08G1/096888
摘要： In one embodiment, planning data is received, for example, from a planning module, to drive an autonomous driving vehicle (ADV) from a starting location and a destination location. In response, a series of control commands are generated based on the planning data, where the control commands are to be applied at different points in time from the starting location to the destination location. A cost is calculated by applying a cost function to the control commands, a first road friction to be estimated in a current trip, and a second road friction estimated during a prior trip from the starting location to the destination location. The first road friction of the current trip is estimated using the cost function in view of a prior termination cost of the prior trip, such that the cost reaches minimum.
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5.发明申请公开(公告)号：US20180299898A1
公开(公告)日：2018-10-18
申请号：US15510817
申请日：2017-03-10
申请人： Baidu USA LLC
发明人： Qi LUO , Qi KONG , Fan ZHU , Sen HU , Xiang YU , Zhenguang ZHU , Yuchang PAN , Jiarui HE , Haoyang FAN , Guang YANG , Jingao WANG
IPC分类号： G05D1/02
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.
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6.发明申请公开(公告)号：US20180297606A1
公开(公告)日：2018-10-18
申请号：US15510914
申请日：2017-03-10
申请人： Baidu USA LLC
发明人： Qi LUO , Qi KONG , Fan ZHU , Sen HU , Xiang YU , Zhenguang ZHU , Yuchang PAN , Jiarui HE , Haoyang FAN , Guang YANG , Jingao WANG
CPC分类号： B60W40/13 , B60W10/20 , B60W30/045 , B60W2040/1315 , B60W2050/0008 , B60W2050/0088 , B60W2510/22 , B60W2530/20 , B60W2550/402 , B62D6/002 , B62D7/159 , B62D15/025 , B62D15/0265 , G01G19/021 , G01M1/12
摘要： In one embodiment, a request is received to turn the autonomous driving vehicle (ADV) from a first direction to a second direction. In response to the request, a number of segment masses of a number of segments of the ADV are determined. The segment masses are located on a plurality of predetermined locations within a vehicle platform of the ADV. A location of a mass center for an entire ADV is calculated based on the segment masses of the segments of the ADV, where the mass center represents a center of an entire mass of the entire ADV. A steering control command based on the location of the mass center of the entire ADV for steering control of the ADV.
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7.发明申请公开(公告)号：US20180186403A1
公开(公告)日：2018-07-05
申请号：US15316490
申请日：2016-11-24
申请人： Baidu USA LLC
发明人： Fan ZHU , Qi KONG , Xiang YU , Sen HU , Qi LUO , Zhenguang ZHU , Yuchang PAN , Wenli YANG , Guang YANG , Jingao WANG
IPC分类号： B62D6/00 , B62D6/02 , G05B19/402
CPC分类号： B62D6/002 , B62D6/02 , B62D15/025 , B62D15/0265 , G05B19/402 , G05B2219/42033 , G05D1/02 , G05D1/0212 , G05D2201/0213
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.
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8.发明申请公开(公告)号：US20190003839A1
公开(公告)日：2019-01-03
申请号：US15532861
申请日：2017-05-22
申请人： Baidu USA LLC
发明人： Sen HU , Fan ZHU , Qi KONG , Qi LUO , Xiang YU , Zhenguang ZHU , Xiaoxin FU , Jiarui HE , Hongye LI , Yuchang PAN , Zhongpu XIA , Chunming ZHAO , Guang YANG , Jingao WANG
IPC分类号： G01C21/32 , G06F17/30 , B60W40/072 , G05D1/00
摘要： In one embodiment, when an ADV is driving on a road segment, a driving parameter is recorded in response to a first control command. A difference between the first driving parameter and a target driving parameter corresponding to the first control command is determined. In response to determining that the difference exceeds a predetermined threshold, a second control command is issued to compensate the difference and cause the ADV to drive with a second driving parameter closer to the target driving parameter. A slope status of the road segment is derived based on at least the second control command. Map data of a map corresponding to the road segment of the road is updated based on the derived slope status. The updated map can be utilized to generate and issue proper control commands in view of the slope status of the road when the ADV drives on the same road subsequently.
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公开(公告)号：US20180196440A1
公开(公告)日：2018-07-12
申请号：US15313523
申请日：2016-11-17
申请人： Baidu USA LLC
发明人： Fan ZHU , Qi KONG , Xiang YU , Sen HU , Qi LUO , Zhenguang ZHU , Yuchang PAN , Wenli YANG , Guang YANG , Jingao WANG
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.
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10.发明申请公开(公告)号：US20210179140A1
公开(公告)日：2021-06-17
申请号：US16066295
申请日：2018-05-18
发明人： Fan ZHU , Xin XU , Qi KONG , Yuchang PAN , Feiyi JIANG , Liangliang ZHANG , Jiaming TAO , Haoyang FAN , Hui JIANG
摘要： In one embodiment, a lateral drifting error is determined based on at least a current location of an ADV. The lateral drifting error is segmented into a first drifting error and a second drifting error using a predetermined segmentation algorithm. A planning module plans a path or trajectory for a current driving cycle (e.g., planning cycle) to drive the ADV from the current location for a predetermined period of time. The planning module performs a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory based on the first drifting error to generate a modified trajectory. A control module controls the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.
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