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公开(公告)号：US20210195213A1
公开(公告)日：2021-06-24
申请号：US16461350
申请日：2019-04-29
发明人： Manjiang ZHANG , Shengjin ZHOU , Shuai WANG , Shuangcheng GUO
IPC分类号： H04N19/172 , H04N19/46
摘要： A method to perform video compression for ADV is disclosed. The method receives multiple frames of image data from multiple cameras. Metadata are appended to each frame of the image data to generate one of multiple frames of uncompressed image data as the image data are received. The frames of uncompressed image data may be stored. To compress the image data later, the method retrieves the frames of uncompressed image data, extracts the metadata from each frame of the uncompressed image data to generate one of multiple frames of processed image data. The method compresses each frame of the processed image data with the metadata extracted to generate one of multiple frames of compressed image data. The method reattaches the metadata to a corresponding frame of the compressed image data to generate one of multiple compressed image frames. The metadata supports time synchronization and error handling of the image data.
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公开(公告)号：US20210191402A1
公开(公告)日：2021-06-24
申请号：US16338462
申请日：2019-03-29
发明人： Fan ZHU , Lin MA , Xin XU , Jingao WANG
IPC分类号： G05D1/02 , B60R16/023
摘要： Based on sensor data obtained from a variety of sensors, a driving environment surrounding an autonomous driving vehicle (ADV) is perceived, including perceiving and identifying one or more obstacles. A trajectory is planned based on the perception data according to a set of rules to drive the ADV navigating through the driving environment. Trajectory data representing the trajectory is generated, where the trajectory data includes information indicating target or expected vehicle states at different points in time along the trajectory. The trajectory data is then transmitted in a sequence or a stream of one or more controller area network (CAN) messages to an electronic control unit (ECU) of the ADV over a CAN bus. The ECU is configured to generate and issue one or more control commands (e.g., throttle, brake, steering commands) based on the trajectory data to drive the ADV according to the trajectory.
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53.发明申请公开(公告)号：US20210188310A1
公开(公告)日：2021-06-24
申请号：US16461364
申请日：2019-04-29
发明人： Shuangcheng GUO , Shuai WANG , Shengjin ZHOU , Ji WAN , Haidong LIU , Ning QU , Hongshun SHEN , Manjiang ZHANG
摘要： An ADV includes a method to combine data from multiple sensors. The method compresses video data from a camera to generate compressed video data. The compressed video data are segmented. The method time synchronizes each segment of the compressed video data with data from other sensors. The method then combines each segment of the compressed video data with the corresponding time-synchronized sensor data for the other sensors. In one embodiment, each segment of the compressed video data is independently decodable. In another embodiment, each segment of the compressed video data includes a compressed video unit that is prepended with a buffered portion of the compressed video data that immediately precede the compressed video unit. The length of the compressed video unit is smaller than the length of the independently decodable segment to offer finer granularity in time synchronizing the compressed video data with the other sensor data with a tradeoff
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54.发明申请公开(公告)号：US20210188285A1
公开(公告)日：2021-06-24
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：US20210174174A1
公开(公告)日：2021-06-10
申请号：US16622789
申请日：2019-11-15
发明人： Hefei ZHU , Jian OUYANG , Zhibiao ZHAO , Xiaozhang GONG , Qingshu CHEN
摘要： A data processing system includes a central processing unit (CPU) and accelerator cards coupled to the CPU over a bus, each of the accelerator cards having a plurality of data processing (DP) accelerators to receive DP tasks from the CPU and to perform the received DP tasks. At least two of the accelerator cards are coupled to each other via an inter-card connection, and at least two of the DP accelerators are coupled to each other via an inter-chip connection. Each of the inter-card connection and the inter-chip connection is capable of being dynamically activated or deactivated, such that in response to a request received from the CPU, any one of the accelerator cards or any one of the DP accelerators within any one of the accelerator cards can be enabled or disabled to process any one of the DP tasks received from the CPU.
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公开(公告)号：US11030525B2
公开(公告)日：2021-06-08
申请号：US16604548
申请日：2018-02-09
发明人： Peng Wang , Ruigang Yang , Binbin Cao , Wei Xu
摘要： Presented are deep learning-based systems and methods for fusing sensor data, such as camera images, motion sensors (GPS/IMU), and a 3D semantic map to achieve robustness, real-time performance, and accuracy of camera localization and scene parsing useful for applications such as robotic navigation and augment reality. In embodiments, a unified framework accomplishes this by jointly using camera poses and scene semantics in training and testing. To evaluate the presented methods and systems, embodiments use a novel dataset that is created from real scenes and comprises dense 3D semantically labeled point clouds, ground truth camera poses obtained from high-accuracy motion sensors, and pixel-level semantic labels of video camera images. As demonstrated by experimental results, the presented systems and methods are mutually beneficial for both camera poses and scene semantics.
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公开(公告)号：US20210155237A1
公开(公告)日：2021-05-27
申请号：US16693054
申请日：2019-11-22
IPC分类号： B60W30/18 , B60W40/105 , G06K9/00
摘要： In one embodiment, it is determined that a speed of an autonomous driving vehicle (ADV) is below a predetermined speed threshold during a current turn section of a three-point turn, where the three-point turn includes at least three turn sections. In response, detecting an obstacle within a predetermined proximity of the ADV, determining a type of obstacle. An amount of time during which the speed of the ADV remains below the predetermined speed threshold is determined. It is determined whether the amount of time is greater than a time threshold corresponding to the type of the obstacle. If the amount of time is greater than the time threshold, the current turn section is ended and a next turn section is started.
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公开(公告)号：US20210072996A1
公开(公告)日：2021-03-11
申请号：US16729989
申请日：2019-12-30
发明人： Qingshu CHEN , Zhibiao ZHAO , Hefei ZHU , Xiaozhang GONG , Yong WANG , Jian OUYANG
摘要： Methods, apparatuses, devices, and storage media for performing a processing task are provided. A portion of portions of the processing task can include a group of operations that are to be performed at a processing unit of processing units. The group of operations can include operations of a first type and operations of a second type. In the method, a first queue for performing the operations of the first type and a second queue for performing the operations of the second type can be built, respectively. Based on a definition of the processing task, a dependency relationship between a group of operations to be performed at the processing unit and a group of operations to be performed at other processing units in the plurality of processing units can be obtained. Operations in the first queue and operations in the second queue can be performed respectively based on the dependency relationship.
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公开(公告)号：US10942521B2
公开(公告)日：2021-03-09
申请号：US16265775
申请日：2019-02-01
摘要： Embodiments of the present disclosure disclose a method for determining a vehicle control parameter, an apparatus for the same, a vehicle controller, and an autonomous vehicle. An embodiment of the method comprises: determining a current vehicle speed and an expected acceleration; determining, from a pre-generated parameter calibration table, a longitudinal control parameter corresponding to the current vehicle speed and the expected acceleration; wherein the parameter calibration table is obtained by: obtaining a training sample set, a training sample in the training sample set including the vehicle speed, the longitudinal control parameter and the acceleration; training a pre-established parameter calibration model with the vehicle speed and acceleration of respective samples in the training sample set as inputs and the longitudinal control parameter value in the training sample as an expected output; and obtaining the parameter calibration table based on the trained parameter calibration model.
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公开(公告)号：US10807599B2
公开(公告)日：2020-10-20
申请号：US15560148
申请日：2017-09-18
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.
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