公开(公告)号：US20250156327A1

公开(公告)日：2025-05-15

申请号：US18506399

申请日：2023-11-10

Applicant: Apollo Autonomous Driving USA LLC

Inventor： ZHENWEI YU

IPC: G06F12/0811 ,  B60W60/00

Abstract: In one embodiment, a system determines a plurality of memory controllers available at a central processing unit (CPU) chipset of an autonomous driving system (ADS) for an autonomous driving vehicle (ADV), the CPU chipset having a plurality of processing cores. The system partitions the plurality of memory controllers at the CPU chipset into N regions. The system determines a shared cache memory at the CPU chipset that is shared among the plurality of processing cores. The system partitions the shared cache memory into N segments according to the N regions. The system configures CPU chipset settings to associate each memory controller in the N regions to a segment of the shared cache memory in the respective region. Data and/or instruction sets are accessed by the CPU chipset from a memory controller through a segment of the cache memory that is associated to the memory controller.

公开(公告)号：US20250151228A1

公开(公告)日：2025-05-08

申请号：US18503702

申请日：2023-11-07

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Peng Cheng

IPC: H05K7/20

Abstract: Embodiments are disclosed of a hybrid liquid cooling apparatus. The apparatus includes a housing having a lid, a bottom, and at least one sidewall. The lid, the bottom, and the at least one sidewall form a sealed enclosure adapted to be at least partially filled with an immersion cooling fluid. A printed circuit board assembly (PCBA) positioned in the sealed enclosure. The PCBA includes one or more major electronic components and one or more minor electronic components. At least part of a cold plate is positioned in the sealed enclosure, is thermally coupled to the one or more major components, and is at least partially submerged in the immersion cooling fluid.

公开(公告)号：US12277732B2

公开(公告)日：2025-04-15

申请号：US18147267

申请日：2022-12-28

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Yun Ji ,  Zhenwei Yu

IPC: G06T7/80 ,  G06T7/70 ,  G06T7/73

Abstract: In one embodiment, a system captures a first frame and a second frame for an environment of an autonomous driving vehicle (ADV) from at least a first and a second cameras mounted on the ADV. The system determines at least two points in the first frame having corresponding points in the second frame. The system determines distance and angle measurement information from the first camera to the at least two points and from the second camera to the corresponding points. The system determines actual positioning angles of the first and second cameras with respect to an orientation of the ADV based on the distance and angle measurement information and pixel information in the first and second frames. The actual positioning angles are used to compensate misalignments in positioning angles for the first and second cameras.

公开(公告)号：US20250020807A1

公开(公告)日：2025-01-16

申请号：US18350209

申请日：2023-07-11

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Hao LIU ,  Yu CAO ,  Ang LI

IPC: G01S17/89 ,  G01S17/931 ,  G06T7/70

Abstract: The present disclosure provides a system and method that analyzes, onboard an autonomous driving vehicle (ADV), a frame of LIDAR data to identify one or more obstacles in the frame of LIDAR data. The system and method compute, by a machine learning model onboard the ADV, a confidence value for each of the one or more obstacles to produce one or more confidence values, wherein the one or more confidence values indicate a level of prediction certainty of the machine learning model. The system and method determine whether at least one of the one or more confidence values is below a confidence threshold. The system and method upload the frame of LIDAR data from the ADV to an offboard storage area based on determining that at least one of the one or more confidence values is below the confidence threshold.

公开(公告)号：US20250012905A1

公开(公告)日：2025-01-09

申请号：US18219506

申请日：2023-07-07

Applicant: Apollo Autonomous Driving USA LLC

Inventor： QIANG WANG

IPC: G01S7/4912 ,  G01S7/35 ,  G01S7/4911 ,  G01S13/58 ,  G01S13/931 ,  G01S17/58 ,  G01S17/931

Abstract: In one embodiment, a frequency-modulated continuous-wave (FMCW) radar-lidar system for an autonomous driving vehicle (ADV) includes one or more lidar frontends configured to generate one or more frames of lidar data. The system includes one or more radar frontends configured to generate one or more frames of radar data. The system includes a plurality of input/output (I/O) interfaces, each corresponding to one of the one or more lidar or radar frontends to receive the radar or lidar data. The system includes an edge device coupled to the plurality of input/output (I/O) interfaces, where the edge device receives the radar data or lidar data for processing to generate a set of 4D point clouds from the radar or lidar data, and the set of 4D point clouds are used to perceive a surrounding environment of the ADV.

公开(公告)号：US20240383459A1

公开(公告)日：2024-11-21

申请号：US18319432

申请日：2023-05-17

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Baoping YUAN ,  Yaoming SHEN

IPC: B60T8/88 ,  B60Q9/00 ,  B60T7/12 ,  B60T8/17 ,  B60T8/171 ,  B60T8/92 ,  B60T17/22 ,  B60W10/10 ,  B60W10/18 ,  B60W30/18

Abstract: Operating a vehicle with an open door creates risks. Embodiments herein consider both when a vehicle is in an autonomous driving (AD) mode and a manual mode. When in AD mode, if an occupant opens the doors while the vehicle is moving, the control system may lower the speed to stop and may park the vehicle (or not park it depending upon the control policy). If an occupant opens the doors when the vehicle is stationary, the control system may keep the vehicle from rolling and from brake system failures. When the vehicle is in a manual model and a door is opened when the vehicle is moving, a warning message may be triggered; whereas, if a door is opened when the vehicle is stationary, the control system may keep the vehicle from rolling and from brake system failures. Warning messages may be triggered for different stages/conditions.

公开(公告)号：US20240220437A1

公开(公告)日：2024-07-04

申请号：US18147456

申请日：2022-12-28

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Qiang WANG

IPC: G06F13/40 ,  G06F13/42

CPC classification number: G06F13/4027 ,  G06F13/4282 ,  G06F2213/0016 ,  G06F2213/0026

Abstract: A distributed computing system in an autonomous driving vehicle (ADV) includes a main compute system and multiple subsystems, and a bus structure that connect the main compute system and the multiple subsystems. The bus structure provides uniform system-to-system connectivity. A host field-programmable gate array (FPGA) agent coupled to the main compute system can communicate with slave FPGA agents on the subsystems via multiple pairs of bus interface protocols of a particular type. The bus interfaces on the FPGA agents supports the uniform system-to-system connectivity.

公开(公告)号：US20240218911A1

公开(公告)日：2024-07-04

申请号：US18147567

申请日：2022-12-28

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Baoping YUAN ,  Yaoming SHEN

IPC: F16D66/02

CPC classification number: F16D66/027 ,  F16D66/028

Abstract: Sound signals are received by a plurality of microphones disposed on a top of an ADV. An analysis of the sound signals is performed based on a spectrum and a vibration intensity of the sound signals. A wheel which the sound signals come from and a thickness of a brake pad of the wheel is determine based on the analysis of the sound signals. A brake pad wear degree of the brake pad and how long the ADV can run with the brake pad within a safety range is determined. A warning message indicating warning information based on the brake pad wear degree is transmitted.

公开(公告)号：US20240190402A1

公开(公告)日：2024-06-13

申请号：US18065330

申请日：2022-12-13

Applicant: Apollo Autonomous Driving USA LLC

Inventor： BAOPING YUAN ,  YAOMING SHEN ,  YIFEI JIANG

IPC: B60T7/22

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60T2250/04

Abstract: This disclosure provides systems and methods for determining a rate of deceleration for automatic emergency braking (AEB) operations based, at least in part, on environment status including passenger status, road status, and the vehicle status itself, and providing a more comfortable passenger/occupancy feeling while maintaining autonomous drive safety as well when the AEB was engaged during Autonomous driving (AD). For example, based on a distance to an obstacle (or more obstacles, such as a vehicle behind) and a current velocity, a range of safe deceleration rates may be ascertained (e.g., to avoid impact against the vehicle in the front and allowing for spaces for the vehicle behind to decelerate). Within this range, a rate of deceleration is determined based on a status of the occupant of the vehicle, e.g., to avoid discomfort or even injury to the occupant.

公开(公告)号：US20240169509A1

公开(公告)日：2024-05-23

申请号：US18058593

申请日：2022-11-23

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Szu-Hao WU ,  Shu JIANG ,  Jeong Ho LYU ,  Linpeng CHENG ,  Hao LIU ,  Helen K. PAN

IPC: G06T7/00

CPC classification number: G06T7/0002 ,  G06T2207/10024 ,  G06T2207/30168 ,  G06T2207/30252

Abstract: The disclosure describes an autotuning framework for tuning an image signal processing (ISP) module of an autonomous driving vehicle (ADV). The autotuning framework can generate different sets of parameter values using a variety of optimization algorithms to configure the ISP module. Each processed image generated by the ISP module configured with the different sets of parameter values is compared by an ISP module testing device with a reference image stored therein to generate an objective core measuring one or more differences between each of the processed images and the reference image. The objective scores and the corresponding sets of parameter values are stored in a database. Different sets of optimal parameter values for different environments can be selected from the database, and uploaded to a cloud database for use by an ADV, which can select a different set of ISP parameter values based on an environment that the ADV is travelling in.