-
公开(公告)号：US11126199B2
公开(公告)日：2021-09-21
申请号：US15954366
申请日：2018-04-16
申请人： Baidu USA LLC
发明人： Liangliang Zhang , Dong Li , Jiangtao Hu , Jiaming Tao , Yifei Jiang
摘要： A learning based speed planner for autonomous driving vehicles (ADV) is disclosed. An ADV is set into human-driving mode. Driving control elements are under control of a human driver, and other ADV logic is enabled. The ADV plans a route path on a segment of the route having an obstacle. ADV logic generates a station-time graph for the path of the segment, and a grid of cells to encompass the path and obstacle. A feature vector is generated from the grid. Human driving behavior is recorded as the ADV is navigated along the path. Recorded driving data for a large plurality of paths, obstacles and ADVs is transmitted to a server to generate a speed model. The speed model is downloaded to one or more ADVs for use in autonomous driving mode, to determine an initial speed to use in similar driving situations.
-
72.发明授权公开(公告)号：US11097748B2
公开(公告)日：2021-08-24
申请号：US16168709
申请日：2018-10-23
申请人： Baidu USA LLC
发明人： Liangliang Zhang , Dong Li , Jiangtao Hu , Jiaming Tao , Jinyun Zhou
摘要： A method of determining a smooth reference line for navigating an autonomous vehicle in a manner similar to human driving is disclosed. A high density map is used to generate a centerline for a lane of roadway. Using the centerline, a number of sample points is generated that is related to a curvature of the centerline. Adjustment points are generated at each sample point, a few on either side of the centerline at each sample point. Candidate points at a sample point include the adjustment points and sample point. A least cost path is determined through each of the candidate points at each of the sample points. Path cost is based an angle of approach and departure through a candidate point, and a distance of the candidate point from the centerline.
-
公开(公告)号：US10971004B2
公开(公告)日：2021-04-06
申请号：US15944788
申请日：2018-04-04
申请人： Baidu USA LLC
发明人： Jiaming Tao , Yifei Jiang , Liangliang Zhang , Dong Li , Jiangtao Hu , Fan Zhu
摘要： In one embodiment, a system receives vehicle information from one or more ADVs. The system determines a location and a heading of each ADV from the vehicle information of the ADV. For each of the ADVs, the system determines if the ADV is approaching a traffic light junction based on the location and the heading of the ADV. The system sends the vehicle information of the ADVs to a traffic light control system in response to determining the ADV is approaching the traffic light junction, where the vehicle information is used by the traffic light control system to direct a traffic flow at the traffic light junction, including adjusting a time duration of a light signal at one or more traffic lights disposed at the traffic light junction in advance of the ADVs arriving at the traffic light junction.
-
公开(公告)号：US10943485B2
公开(公告)日：2021-03-09
申请号：US15944775
申请日：2018-04-03
申请人： Baidu USA LLC
发明人： Jiaming Tao , Liangliang Zhang , Dong Li , Yifei Jiang , Jiangtao Hu , Fan Zhu
摘要： In one embodiment, a system of an ADV perceives a driving environment surrounding the ADV using a plurality of sensors mounted on the ADV. The system identifies a blind spot based on the perceived driving environment surrounding the ADV. The system in response to identifying the blind spot, receives an image having the blind spot from an image capturing device disposed within a predetermined proximity of the blind spot. In some embodiments, the system receives the image having the blind spot from a remote server communicatively coupled to the image capturing device. The system identifies an obstacle of interest at the blind spot of the ADV based on the image. The system generates a trajectory based on the obstacle of interest at the blind spot to control the ADV to avoid the obstacle of interest.
-
公开(公告)号：US10916077B2
公开(公告)日：2021-02-09
申请号：US16102396
申请日：2018-08-13
申请人： Baidu USA LLC
发明人： Liangliang Zhang , Dong Li , Jiangtao Hu , Jiaming Tao , Yifei Jiang , Qi Luo
摘要： In one embodiment, one or more first data items associated with a planned trip of a user riding in an autonomous driving vehicle (ADV) are displayed on a display device within the ADV. Each of the first data items is associated with a user selectable option to indicate whether the user wishes or allows the ADV to store each of the first data items in a persistent storage device. User inputs are received via a user interface such as touch screen of the display device, including a first selection indicating that the user wishes to store a first subset of the first data items. In response to the first selection, the first subset of the data items is stored in the persistent storage device of the ADV.
-
公开(公告)号：US10810872B2
公开(公告)日：2020-10-20
申请号：US16051031
申请日：2018-07-31
申请人： Baidu USA LLC
发明人： Jiaming Tao , Liangliang Zhang , Yifei Jiang , Dong Li , Fan Zhu , Jiangtao Hu
摘要： In one embodiment, a method, apparatus, and system for automatically detecting and notifying a user of a traffic rule violation using sensors and a perception module of an autonomous driving vehicle is disclosed. The operations performed comprise: capturing surrounding road traffic information at an autonomous driving vehicle (ADV) based on sensor data obtained from a plurality of sensors of the ADV; automatically detecting at the ADV a traffic rule violation of a first vehicle within a perception range of the ADV based on the surrounding road traffic information and a set of pre-configured traffic rules maintained by the ADV, including analyzing the surrounding road traffic information in view of the pre-configured traffic rules; and generating an alert in response to the detected traffic rule violation.
-
公开(公告)号：US10788839B2
公开(公告)日：2020-09-29
申请号：US16050993
申请日：2018-07-31
申请人： Baidu USA LLC
发明人： Liangliang Zhang , Jiangtao Hu , Dong Li , Jiaming Tao , Yifei Jiang , Qi Luo
摘要： In one embodiment, a method, apparatus, and system for trajectory planning for autonomous driving in an autonomous driving vehicle equipped with a low accuracy localization and perception module is disclosed. The operations comprise: determining a reference line based on prerecorded human driving trajectories; determining a rough position of an autonomous driving vehicle; determining a first stitching point, the first stitching point being a point on the reference line projected from the rough position; determining a second stitching point, the second stitching point being a point on a planning trajectory of a previous cycle, if the previous cycle exists, projected based on an absolute timestamp of a present cycle; determining a planning initial point of the present cycle based on the first stitching point and the second stitching point; generating a planning trajectory of the present cycle based on the planning initial point of the present cycle; and generating an autonomous driving control command of the present cycle based on the planning trajectory of the present cycle.
-
78.发明授权公开(公告)号：US10712746B2
公开(公告)日：2020-07-14
申请号：US15250815
申请日：2016-08-29
申请人： Baidu USA LLC
发明人： Liyun Li , Dong Li , Jiangtao Hu , Yifei Jiang , Jiaming Tao , Guang Yang , Jingao Wang
摘要： In response to sensor data received from sensors mounted on an autonomous vehicle, a surrounding environment is perceived based on the sensor data. The surrounding environment includes multiple sub-environments. For each of the sub-environments, one of a plurality of driving scenario handlers associated with the sub-environment is identified, each driving scenario handler corresponding to one of a plurality of driving scenarios. The identified driving scenario handler is invoked to determine an individual driving condition within the corresponding sub-environment. An overall driving condition for the surrounding environment is determined based on the individual driving conditions provided by the identified driving scenario handlers. A route segment is planned based on the overall driving condition of the surrounding environment, the route segment being one of a plurality of route segments associated with a route. The autonomous vehicle is controlled and driven based on the planned route segment.
-
公开(公告)号：US20200026276A1
公开(公告)日：2020-01-23
申请号：US16037908
申请日：2018-07-17
申请人： Baidu USA LLC
发明人： Yajia Zhang , Dong Li , Liangliang Zhang , Kecheng Xu , Jiaming Tao , Yifei Jiang , Qi Luo , Jiangtao Hu , Jinghao Miao
摘要： Methods and systems for multimodal motion planning framework for autonomous driving vehicles are disclosed. In one embodiment, driving environment data of an autonomous vehicle is received, where the environment data includes a route segment. The route segment is segmented into a number of route sub-segments. A specific driving scenario is assigned to each of the route sub-segments, where each specific driving scenario is included in a set of driving scenarios. A first motion planning algorithm is assigned according to a first assigned driving scenario included in the set of driving scenarios. The first motion planning algorithm is invoked to generate a first set of trajectories. The autonomous vehicle is controlled based on the first set of trajectories.
-
80.发明申请公开(公告)号：US20200001862A1
公开(公告)日：2020-01-02
申请号：US16020649
申请日：2018-06-27
申请人： Baidu USA LLC
发明人： Qi Luo , Dong Li , Yajia Zhang , Liangliang Zhang , Yifei Jiang , Jiaming Tao , Kecheng Xu , Jiangtao Hu
摘要： A parking system for autonomous driving vehicles optimizes a solution to a parking problem. The ADV detects a parking lot and selects a parking space. The ADV defines constraints for the parking lot, parking space, and kinematic constraints of the ADV, and generates a plurality of potential parking paths to the parking space, taking into account the constraints of the parking lot, parking space, and kinematics of the ADV, but without taking into any obstacles that may be surrounding the ADV. The ADV determines a cost for traversing each of the parking paths. One or more least cost candidate paths are selected from the parking paths, then one or more candidate paths are eliminated based on obstacles surrounding the ADV. Remaining candidates can be analyzed using a quadratic optimization system. A best parking path can be selected from the remaining candidates to navigate the ADV to the parking space.
-
-
-
-
-
-
-
-
-
搜索结果
87 条记录 (耗时 0.025 秒)
