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11.发明申请公开(公告)号：US20180060358A1
公开(公告)日：2018-03-01
申请号：US15246383
申请日：2016-08-24
Applicant: Baidu USA LLC
Inventor： YIFEI JIANG , ZHUANG LI , DONG LI , FAN ZHU , QI KONG , GUANG YANG , JINGAO WANG
IPC: G06F17/30
CPC classification number: G06F16/5866 , G06F16/24578 , G06F16/248 , G06F16/9535
Abstract: According to one embodiment, a content item is received that was searched and identified based on a first set of one or more keywords determined based on a search query received from a client device over a network. A search is performed in an image store to identify a plurality of images based on the first set of keywords and a second set of one or more keywords associated with the content item. The images are ranked based on a user context obtained at a time when the search query was received. A composite content item is generated by incorporating an image selected from the ranked images with the content item, where the selected image is ranked above a predetermined threshold. The composite content item is transmitted to the client device over the network.
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公开(公告)号：US20180024553A1
公开(公告)日：2018-01-25
申请号：US15216566
申请日：2016-07-21
Applicant: Baidu USA LLC
Inventor： QI KONG , FAN ZHU , DONG LI , YIFEI JIANG , LI ZHUANG , GUANG YANG , JINGAO WANG
IPC: G05D1/00 , B60W30/09 , G08G1/0968 , G05D1/02
CPC classification number: G05D1/0088 , B60W30/09 , B60W2420/54 , B60W2540/18 , B60W2550/402 , G05D1/0212 , G05D1/0248 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0212 , G05D2201/0213 , G08G1/096827 , G08G1/096844
Abstract: In one embodiment, motion planning and control data is received, indicating that an autonomous vehicle is to move from a first point to a second point of a path. The motion planning and control data describes a plurality of routes from the first point to the second point within the path. For each of the routes, a simulation of the route is performed in view of physical characteristics of the autonomous vehicle to generate a simulated route. A controlling error is calculated, the controlling error representing a discrepancy between the route and the simulated route. One of the routes is selected based on controlling errors between the routes and associated simulated routes. The autonomous vehicle is operated to move from the first point to the second point according to the selected route.
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公开(公告)号：US20210200231A1
公开(公告)日：2021-07-01
申请号：US16730181
申请日：2019-12-30
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: A method, apparatus, and system for planning a deceleration trajectory based on a natural deceleration profile for an autonomous driving vehicle (ADV) is disclosed. In one embodiment, in response to a request for driving in a natural deceleration mode, a current speed of the ADV is determined. A speed guideline is generated based on a predetermined natural deceleration profile associated with the ADV in view of the current speed of the ADV. A speed planning operation is performed by optimizing a total cost function based on the speed guideline to determine speeds of a plurality of trajectory points along a trajectory planned to drive the ADV. A number of control commands are generated based on the speed planning operation to control the ADV with the planned speeds along the trajectory, such that the ADV naturally slows down according to the predetermined natural deceleration profile.
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公开(公告)号：US20210188257A1
公开(公告)日：2021-06-24
申请号：US16723796
申请日：2019-12-20
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: A first obstacle colliding with the ADV is detected. A minimum deceleration that is required for the ADV to avoid colliding with a second obstacle within a predetermined proximity of a moving direction is determined. A brake command is generated based on the minimum deceleration. Then, the brake command is applied to the ADV, such that the ADV avoids collision with the second obstacle and softens an impact of the collision with the first obstacle.
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公开(公告)号：US20210181741A1
公开(公告)日：2021-06-17
申请号：US16711118
申请日：2019-12-11
Inventor： DONGCHUN YAO , FAN ZHU , LEIBING LV , XIN XU , NING YU
Abstract: According to one embodiment, in response to determining that an obstacle blocks at least a portion of a current lane in which an ADV is driving, an obstacle boundary of the obstacle is determined based on the size and shape of the obstacle. A lane configuration is determined based on map data of a map corresponding to a road associated with the lanes. A passing lane boundary that can be utilized by the ADV is determined based on the lane configuration of the road and the obstacle boundary of the obstacle. A passable area is calculated within the passing lane boundary based on a size of the ADV. The passable area is utilized by the ADV to pass the obstacle without collision. Thereafter, a trajectory is planned within the passable area boundary to control the ADV to pass the obstacle.
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Patent Agency Ranking
公开(公告)号：US20210179122A1
公开(公告)日：2021-06-17
申请号：US16711649
申请日：2019-12-12
Applicant: Baidu USA LLC
Inventor： FAN ZHU
IPC: B60W50/02 , G05D1/02 , G05D1/00 , B60W10/18 , B60R16/023
Abstract: According to one embodiment, a first autonomous driving system (e.g., main system) is configured to perform a planning and control operation on an ADV, including perceiving a driving environment surrounding the ADV and planning a trajectory to drive the ADV. A second autonomous driving system (e.g., a backup system) operates as a redundant driving system to monitor a first operating status of the first autonomous driving system. The first autonomous driving system further monitors a second operating status of the second autonomous driving system. A safety action is performed to transition the ADV into a safer state based on the monitored operating status of the first and second autonomous driving systems.
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公开(公告)号：US20200298754A1
公开(公告)日：2020-09-24
申请号：US16360986
申请日：2019-03-21
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: In one embodiment, a system perceives an environment surrounding an ADV including a vehicle in front of the ADV. The system determines whether the vehicle in front is slipping backwards based on the perception. The system determines whether the vehicle in front is situated on a road with a slope based on map information. The system determines whether a tail light or a brake light of the vehicle in front is turned on based on the perception. If it is determined that the vehicle in front is situated on a sloped road, is slipping backwards, and the tail light or the brake light is not turned on, the system calculates a time to impact or a distance to impact based on the distance and speed of the vehicle in front.
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18.发明申请公开(公告)号：US20200172117A1
公开(公告)日：2020-06-04
申请号：US16205193
申请日：2018-11-29
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: In one embodiment, in response to a first control command originated from a driver of an ADV, an expected acceleration of the ADV in response to the first control command is determined in view of a current speed of the ADV under the standard driving environment (e.g., dry road, flat road surface, normal tire pressure, zero load). One of the command calibration tables is selected based on a current driving environment of the ADV at the point in time. A lookup operation is performed in the selected command calibration table to obtain a second control command based on the current speed and expected acceleration of the ADV. The second control command is then issued to the ADV to control the ADV. As a result, the ADV would have reached the same acceleration under the current driving environment as if the ADV was driving in the standard driving environment.
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公开(公告)号：US20190317509A1
公开(公告)日：2019-10-17
申请号：US15954998
申请日：2018-04-17
Applicant: Baidu USA LLC
Inventor： LIANGLIANG ZHANG , DONG LI , JIANGTAO HU , JIAMING TAO , YIFEI JIANG , FAN ZHU
Abstract: According to some embodiments, a system operates an ADV. In one embodiment, the system perceives a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors, including perceiving a moving obstacle that is moving relative to the ADV. The system projects the moving obstacle as a figure onto a station-time (ST) coordinate system, wherein the ST coordinate system indicates a distance between the figure and a reference point at different points in time. And the system, for each of a plurality of predetermined processing time intervals, determines two points of the figure in the ST coordinate system to represent a shape of the figure, wherein the shape of the figure is utilized to plan a trajectory to drive the ADV to avoid colliding with the moving obstacle.
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公开(公告)号：US20190080266A1
公开(公告)日：2019-03-14
申请号：US15701427
申请日：2017-09-11
Applicant: Baidu USA LLC
Abstract: According to some embodiments, a system generates a number of possible decisions for routing the ADV from a first location to a second location based on perception information perceiving a driving environment surrounding the ADV, including one or more obstacles in view of a set of traffic rules. The system calculates a number of trajectories based on a combination of one or more of the possible decisions. The system calculates a total cost for each of the trajectories using a number of cost functions and selects one of the trajectories with a minimum total cost as the driving trajectory to control the ADV autonomously. The cost functions include a path cost function, a speed cost function, and an obstacle cost function.
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