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21.发明申请公开(公告)号：US20190079528A1
公开(公告)日：2019-03-14
申请号：US15701422
申请日：2017-09-11
Applicant: Baidu USA LLC
IPC: G05D1/02 , B60W30/095
Abstract: According to some embodiments, a system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and an obstacle information describing one or more obstacles perceived by the ADV, where for each of the obstacles, the path profile includes a decision to yield or nudge to left or right of the obstacle. The system generates a speed profile based on the path profile in view of the traffic rules. The system performs a gradient descent optimization based on the path profile and the speed profile to generate a second trajectory representing an optimized first trajectory and controls the ADV according to the second trajectory.
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22.发明申请公开(公告)号：US20180086344A1
公开(公告)日：2018-03-29
申请号：US15278719
申请日：2016-09-28
Applicant: Baidu USA LLC
Inventor： FAN ZHU , QI KONG , GUANG YANG , JINGAO WANG
CPC classification number: B60W30/18145 , B60W30/045 , B60W50/0097 , B60W2050/0031 , B60W2050/0088 , B60W2050/0089 , B60W2520/10 , B60W2520/105 , B60W2520/20 , B60W2550/12 , B60W2550/141 , B60W2710/207 , B60W2720/20 , G05D1/0212 , G05D2201/0212
Abstract: In one embodiment, a driving scenario is identified for a next movement for an autonomous vehicle, where the driving scenario is represented by a set of one or more predetermined parameters. A first next movement is calculated for the autonomous vehicle using a physical model corresponding to the driving scenario. A sideslip predictive model is applied to the set of predetermined parameters to predict a sideslip of the autonomous vehicle under the driving scenario. A second next movement of the autonomous vehicle is determined based on the first next movement and the predicted sideslip of the autonomous vehicle. The predicted sideslip is utilized to modify the first next movement to compensate the sideslip. Planning and control data is generated for the second next movement and the autonomous vehicle is controlled and driven based on the planning and control data.
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公开(公告)号：US20180052934A1
公开(公告)日：2018-02-22
申请号：US15239676
申请日：2016-08-17
Applicant: Baidu USA LLC
Inventor： DONG LI , YIFEI JIANG , ZHUANG LI , QI KONG , FAN ZHU , GUANG YANG , JINGAO WANG
IPC: G06F17/30
CPC classification number: G06F16/5866 , G06F16/9038
Abstract: In response to a search query received from a client, a content item is identified from a content database based on one or more keywords associated with the search query. In addition, a search is performed in an image store to identify a list of image candidates based on one or more keywords associated with the search query. An image is selected from the list of image candidates using an image selection algorithm. Metadata associated with the content provider is inscribed onto the selected image to generate a customized image. The customized image is integrated with the content item to generate a composite content item such as a poster. As a result, the content represented by the composite content item is closely tied to the content provider. The composite content item is then transmitted to the client.
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公开(公告)号：US20210394786A1
公开(公告)日：2021-12-23
申请号：US16904205
申请日：2020-06-17
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: Embodiments disclose a method and a system to operate an autonomous driving vehicle (ADV). In one embodiment, a system determines a source lane speed limit (SLSL) for a source lane (SL) and a target lane speed limit (TLSL) for a target lane (TL), where the SLSL is greater than the TLSL. The system generates a first trajectory for the ADV to follow the SL, the first trajectory having a modified speed corresponding to the TLSL instead of the SLSL. The system generates a second trajectory for the ADV to change from the SL to the TL, the second trajectory having a speed corresponding to the TLSL. The system determines a first cost and a second cost for the first trajectory and the second trajectory respectively based on a cost function for comparison. The system controls the ADV according to a trajectory with a lowest cost.
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公开(公告)号：US20210380141A1
公开(公告)日：2021-12-09
申请号：US16892999
申请日：2020-06-04
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: Embodiments is disclosed to detect a locked heading direction of a pedestrian and to predict a path for the pedestrian using the locked heading direction. According to one embodiment, a system perceives an environment of an autonomous driving vehicle (ADV) using one or more image capturing devices. The system detects a pedestrian in the perceived environment. The system determines a facing direction of the pedestrian relative to the ADV as one of left/right side, front, or back. If the facing direction of the pedestrian is determined to be front or back facing, the system determines a lane nearest to the pedestrian. The system projects the pedestrian onto the nearest lane to determine a lane direction at the projection. The system determines a heading direction for the pedestrian locking to the lane direction of the nearest lane based on a predetermined condition.
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Patent Agency Ranking
公开(公告)号：US20210347381A1
公开(公告)日：2021-11-11
申请号：US16870475
申请日：2020-05-08
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: In one embodiment, a speed planning system receives speed limit information for an autonomous driving vehicle (ADV), where the speed limit information includes a change in road speed limit for a current road of the ADV. The system determines a tapered speed limit corresponding to the current road based on the speed limit information, where the tapered speed limit correspond to a gradual speed reduction from a first road speed limit to a second road speed limit. The system determines a cost function based on the tapered speed limit and the first and second road speed limits. The system generates a number of trajectory candidates based on the cost function. The system selects a trajectory based on the trajectory candidates to control the ADV using the selected trajectory.
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公开(公告)号：US20210269056A1
公开(公告)日：2021-09-02
申请号：US16803772
申请日：2020-02-27
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: Embodiments disclose systems and methods to generate a lane-based reference line for an autonomous driving vehicle. In one embodiment, a system receives a request to route an autonomous driving vehicle (ADV) from a source location to a target location. In response to the request, the system identifies a set of road segments between the source location and the target location navigable by the ADV, where each of the road segments in the set includes one or more lane segments. The system identifies one or more lane paths corresponding to the set of road segments. The system determines an effective distance for each of the one or more lane paths. The system selects a lane path based on the determined effective distance. The system generates a lane-based reference line based on the selected lane path.
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公开(公告)号：US20210229704A1
公开(公告)日：2021-07-29
申请号：US16646958
申请日：2020-01-23
Abstract: A lateral control error of a steering system of an ADV is determined, which includes iteratively performing following operations for a predetermined time period. Whether the ADV is moving within a predetermined proximity of a current moving direction is determined. Next, whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition is determined. Then, a first steering feedback of the ADV in response to a prior steering control command is measured. Thereafter, the lateral control error is determined based on at least a portion of the first steering feedback over the predetermined time period. Further, a steering command in view of the lateral control error of the steering system is generated. Finally, the steering command is applied to control the ADV to compensate the lateral control error of the steering system.
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29.发明申请公开(公告)号：US20210197793A1
公开(公告)日：2021-07-01
申请号：US16730379
申请日：2019-12-30
Applicant: Baidu USA LLC
Inventor： FAN ZHU
Abstract: A method, apparatus, and system for modifying acceleration characteristics of an electric vehicle is disclosed. A persistent input throttle command signal that starts at a first time instant is received at a vehicle control system of a first vehicle that is a first type vehicle. A transformed throttle command signal is generated based on the persistent input throttle signal and a present time at the vehicle control system. An engine operation of the first vehicle is controlled based on the transformed throttle command signal at the vehicle control system. Controlling the engine operation of the first vehicle based on the transformed throttle command signal causes the engine power output of the first vehicle to be associated with a second acceleration performance curve that is associated with a second type vehicle.
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公开(公告)号：US20210188286A1
公开(公告)日：2021-06-24
申请号：US16627724
申请日：2019-12-20
IPC: B60W40/072 , G05D1/00 , G05D1/02 , B60W30/095
Abstract: In one embodiment, an exemplary method includes the operations of receiving a raw reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV); and smoothing the raw reference line using a Quadratic programming (QP) spline smoother to generate a smoothed reference line. The method further includes the operations of identifying one or more segments on the smoothed reference line, each of the identified reference line segments including a curvature that exceeds a predetermined size; and smoothing each of the one or more identified reference line segments using a spiral smoother, including optimizing each identified curvature in view of a set of constraints, such that an output of the objective function reaches a minimum value while the set of constraints are satisfied; and controlling the ADV using the smoothed reference line.
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