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.

公开(公告)号：US20240185611A1

公开(公告)日：2024-06-06

申请号：US18060713

申请日：2022-12-01

Applicant: Apollo Autonomous Driving USA LLC

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

IPC: G06V20/58 ,  B60W60/00

CPC classification number: G06V20/58 ,  B60W60/001 ,  B60W2420/42 ,  B60W2420/52

Abstract: A computing device may obtain one or more raw images captured from sensors of an autonomous driving vehicle (ADV). The computing device may apply one or more signal processing parameters to one or more raw images, resulting in one or more processed images. The computing device may apply an object detection algorithm of the ADV to the one or more processed images. The computing device may determine a score of the object detection algorithm as applied to the one or more processed images. One or more optimized signal processing parameters may be determined based on the score of the object detection algorithm and the signal processing parameter. The one or more optimized signal processing parameters may be used to configure the ADV for use during autonomous driving.

公开(公告)号：US20240246549A1

公开(公告)日：2024-07-25

申请号：US18003017

申请日：2022-11-28

Applicant: Apollo Autonomous Driving USA LLC ,  Beijing Baidu Netcom Science Technology Co., Ltd.

Inventor： Shu JIANG ,  Hao LIU ,  Szu-Hao WU ,  Fuyang ZHAO ,  Xiaoyi ZHU ,  Haofeng KOU ,  Helen K. PAN

IPC: B60W50/04 ,  B60W50/00 ,  B60W60/00

CPC classification number: B60W50/045 ,  B60W60/00 ,  B60W2050/0022 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2556/10

Abstract: In one embodiment, a microcontroller unit (MCU) receives an expected state of an autonomous driving vehicle (ADV) from a controller of the ADV, where the controller controls motions of the ADV using a control algorithm. The MCU receives sensor data from one or more sensors of the ADV. The MCU determine an actual state of the ADV based on the sensor data. The MCU determines a performance metric of the control algorithm based on the expected state and the actual state. In response to determining the performance metric has satisfied a predetermined condition, the MCU determines a plurality of weight values for the control algorithm. The MCU sends the plurality of weight values to the control system to tune one or more weight parameters of the control algorithm using the plurality of weight values, where the controller controls the ADV using the tuned control algorithm.

公开(公告)号：US20240166239A1

公开(公告)日：2024-05-23

申请号：US18057673

申请日：2022-11-21

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Hao LIU ,  Shu JIANG ,  Yifei JIANG ,  Weiman LIN ,  Szu-Hao WU ,  Helen K. PAN

IPC: B60W60/00 ,  B60W40/105

CPC classification number: B60W60/0015 ,  B60W40/105 ,  B60W2554/20 ,  B60W2554/4041

Abstract: According to some embodiments, systems, methods, and media for operating an autonomous driving vehicle (ADV) encountered with small objects are described. According to a method, the ADV, when detecting an object in a lane in which the ADV is travelling, can determine whether the ADV can safely drive over the object based on attributes of the object and attributes of the ADV, and if so, can generate one or more planned trajectories that each enable the ADV to drive over the object. From the one or more planned trajectories, the ADV can select a planned trajectory that enables the ADV to drive over the object along the centerline of the ADV without causing the ADV to drive out of the lane. If no such planned trajectory exists, the ADV can bypass the object, or stop within a predetermined distance of the object.