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11.发明授权公开(公告)号：US11377119B2
公开(公告)日：2022-07-05
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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公开(公告)号：US11352010B2
公开(公告)日：2022-06-07
申请号：US16588693
申请日：2019-09-30
发明人： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Jiaxuan Xu , Jingao Wang , Yu Wang , Jinyun Zhou , Runxin He
摘要： In one embodiment, an autonomous driving system of an autonomous driving vehicle perceives a driving environment surrounding the autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment. The system detects a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle. The system further calibrates the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle. The system then controls the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.
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公开(公告)号：US11338855B2
公开(公告)日：2022-05-24
申请号：US16314352
申请日：2018-12-26
摘要： A three-point-turn is planned and executed in the operation of an autonomous driving vehicle (ADV). A candidate route from a start point and going through an end point is determined, the start point and the end point being in lanes associated with opposite travel directions. The candidate route is categorized into partially overlapping first, second, and third segments. A total cost associated with the candidate route is determined based at least in part on the first and second segments. Whether the total cost is below a threshold cost is determined. In response to a determination that the total cost is below the threshold cost, the three-point-turn is planned based on the candidate route. Further, driving signals are generated based at least in part on the planned three-point-turn to control operations of the ADV.
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14.发明申请公开(公告)号：US20220126860A1
公开(公告)日：2022-04-28
申请号：US17463501
申请日：2021-08-31
发明人： Shengjian GUO , Zhisheng HU , Zhenyu ZHONG , Kang LI
摘要： A method for processing autonomous driving simulation data. The method includes: determining a type of a message transmitted between a simulation system and an auto driving system (ADS); determining a data acquisition mode based on the type of the message; obtaining a data stream transmitted between the simulation system and the ADS based on the data acquisition mode; and determining performance of the ADS based on the data stream.
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公开(公告)号：US20220092381A1
公开(公告)日：2022-03-24
申请号：US17058624
申请日：2020-09-18
发明人： Baopu LI , Yanwen FAN , Zhihong PAN , Teng XI , Gang ZHANG
摘要： Network architecture search (NAS) received a lot of attention. The supernet-based differentiable approach is popular because it can effectively share the weights and lead to more efficient search. However, the mismatch between the architecture and weights caused by weight sharing still exists. Moreover, the coupling effects among different operators are also neglected. To alleviate these problems, embodiments of an effective NAS methodology by similarity-based operator ranking are presented herein. With the aim of approximating each layer's output in the supernet, a similarity-based operator ranking based on statistical random comparison is used. In one or more embodiments, then the operator that possibly causes the least change to feature distribution discrepancy is pruned. In one or more embodiments, a fair sampling process may be used to mitigate the operators' Matthew effect that happened frequently in previous supernet approaches.
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公开(公告)号：US20220083741A1
公开(公告)日：2022-03-17
申请号：US17538932
申请日：2021-11-30
IPC分类号： G06F40/30 , G06F40/253 , G06F16/783 , H04N21/845 , G11B27/036
摘要： A method for aligning a text with a media material, an apparatus, and a storage medium are provided. The method includes: determining a set of anchor points in the text; performing following operations i) to v) repeatedly until all anchor points are removed from the set of anchor points or all media materials are removed from a set of media materials: i) ranking the anchor points in the set of anchor points, ii) selecting a target anchor point from the set of anchor points based on the ranked anchor points in the set, iii) determining, from the set of media materials, a media material matching a text segment starting from the target anchor point, iv) removing the target anchor point, and v) removing the media material matching the text segment starting from the target anchor point; and aligning the text segments with respective media matching materials.
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17.发明授权公开(公告)号：US11267476B2
公开(公告)日：2022-03-08
申请号：US16338447
申请日：2019-03-28
IPC分类号： B60W40/072 , B60W30/12 , G06F17/12
摘要： A computer-implemented method, apparatus, and system for discretizing lane markings and for generating a lane reference line is disclosed. A polynomial defined over an (x,y) coordinate system is received, the polynomial being representative of at least a portion of a lane boundary line. A length of the polynomial is determined. The polynomial is discretized, comprising determining a plurality of discretization points on the polynomial to represent the polynomial, wherein a first discretization point is a first end of the polynomial, wherein subsequent discretization points are determined successively until the polynomial is completely discretized, and wherein each discretization point other than the first discretization point is determined based at least in part on a slope of the polynomial at a previous discretization point. Thereafter, a lane reference line comprising a plurality of points is generated based on the discretized polynomial.
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公开(公告)号：US11230297B2
公开(公告)日：2022-01-25
申请号：US16099883
申请日：2018-09-28
IPC分类号： B60W30/095 , G06K9/00 , B60W60/00 , B60W40/04 , G06F17/11
摘要： According to some embodiments, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV. The system identifies an obstacle in motion near the ADV based on the captured image. The system predicts a location for the moving obstacle at each of a number of time points. The system generates a probability ellipse based on the predicted location at the each time point, where the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point.
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公开(公告)号：US11227398B2
公开(公告)日：2022-01-18
申请号：US16336872
申请日：2019-01-30
发明人： Yong Xiao , Runxin He , Pengfei Yuan , Li Yu , Shiyu Song
摘要： In one embodiment, a system receives a number of point clouds captured by one or more LIDAR sensors of an ADV and corresponding poses. The system receives a number of RGB images from one or more image capturing sensors of the ADV. The system synchronizes the RGB images with the point clouds to obtain RGB point clouds. The system extracts features from the RGB point clouds, the features including contextual and spatial information of the RGB point clouds. The system registers the RGB point clouds based on the extracted features and generates a point cloud map based on the registration of the RGB point clouds.
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公开(公告)号：US20210374904A1
公开(公告)日：2021-12-02
申请号：US16770904
申请日：2020-05-26
发明人： Miao LIAO , Feixiang LU , Dingfu ZHOU , Sibo ZHANG , Ruigang YANG
摘要： Systems and methods of video inpainting for autonomous driving are disclosed. For example, the method stitches a multiplicity of depth frames into a 3D map, where one or more objects in the depth frames have previously been removed. The method further projects the 3D map onto a first image frame to generate a corresponding depth map, where the first image frame includes a target inpainting region. For each target pixel within the target inpainting region of the first image frame, based on the corresponding depth map, the method further maps the target pixel within the target inpainting region of the first image frame to a candidate pixel in a second image frame. The method further determines a candidate color to fill the target pixel. The method further performs Poisson image editing on the first image frame to achieve color consistency at a boundary and between inside and outside of the target inpainting region of the first image frame. For each pixel in the target inpainting region of the first image frame, the method further traces the pixel into neighboring frames and replacing an original color of the pixel with an average of colors sampled from the neighboring frames.
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