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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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2.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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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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