公开(公告)号：US20190084571A1

公开(公告)日：2019-03-21

申请号：US15560148

申请日：2017-09-18

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Yuchang PAN ,  Fuxiao XIN ,  Hui JIANG ,  Li ZHUANG ,  Weicheng ZHU ,  Chunming ZHAO ,  Zhenguang ZHU ,  Jingao WANG ,  Haoyang FAN

IPC分类号： B60W30/18 ,  G05D1/00 ,  B60W10/20 ,  G08G1/0967 ,  G08G1/0968

摘要： In one embodiment, in response to a route from a source location to a target location, the route is analyzed to identify a list of one or more driving scenarios along the route that match one or more predetermined driving scenarios. The route is segmented into a list of route segments based on the driving scenarios. At least one of the route segments corresponds to one of the identified driving scenarios. A path is generated based on the route segments for driving an autonomous driving vehicle from the source location to the target location. The path includes a number of path segments corresponding to the route segments. At least one of the path segments of the path is determined based on a preconfigured path segment of a predetermined driving scenario associated with the path segment, without having to calculating the same at real time.

公开(公告)号：US20180334166A1

公开(公告)日：2018-11-22

申请号：US15518360

申请日：2017-03-30

申请人： Baidu USA LLC

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

IPC分类号： B60W30/12 ,  B60W10/20 ,  B60W10/18 ,  B60W10/04 ,  G05D1/00 ,  G05D1/02

摘要： A lane departure detection system detects that an autonomous driving vehicle (ADV) is departing from the lane in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb such as a speed bump laid across the lane. When the ADV contacts the deceleration curb, the lane departure detection system detects and calculates an angle of a moving direction of the ADV vs a longitudinal direction of the deceleration curb. Based on the angle, the system calculates how much the moving direction of the ADV is off compared to a lane direction of the lane. The lane direction is typically substantially perpendicular to the longitudinal direction of the deceleration curb. A control command such as a speed control command and/or a steering control command is generated based on the angle to correct the moving direction of the ADV.