-
公开(公告)号：US20210179140A1
公开(公告)日：2021-06-17
申请号：US16066295
申请日：2018-05-18
发明人： Fan ZHU , Xin XU , Qi KONG , Yuchang PAN , Feiyi JIANG , Liangliang ZHANG , Jiaming TAO , Haoyang FAN , Hui JIANG
摘要： In one embodiment, a lateral drifting error is determined based on at least a current location of an ADV. The lateral drifting error is segmented into a first drifting error and a second drifting error using a predetermined segmentation algorithm. A planning module plans a path or trajectory for a current driving cycle (e.g., planning cycle) to drive the ADV from the current location for a predetermined period of time. The planning module performs a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory based on the first drifting error to generate a modified trajectory. A control module controls the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.
-
公开(公告)号：US20210163037A1
公开(公告)日：2021-06-03
申请号：US16067556
申请日：2018-04-18
发明人： Fan ZHU , Qi KONG , Yuchang PAN , Feiyi JIANG , Xin XU , Xiaoxin FU , Zhongpu XIA , Chunming ZHAO , Liangliang ZHANG , Weicheng ZHU , Li ZHUANG , Haoyang FAN , Hui JIANG , Jiaming TAO
摘要： In one embodiment, instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.
-
公开(公告)号：US20210179101A1
公开(公告)日：2021-06-17
申请号：US16078636
申请日：2018-07-09
发明人： Fan ZHU , Qi KONG , Lin MA , Hui JIANG , Jiaming TAO , Liangliang ZHANG
IPC分类号： B60W30/14 , B60W40/105 , B60W60/00 , B60W50/00
摘要： According to some embodiments, a system receives a first control command and a speed measurement of the ADV. The system determines an expected acceleration of the ADV based on the speed measurement and the first control command. The system receives an acceleration measurement of the ADV. The system determines a feedback error based on the acceleration measurement and the expected acceleration. The system updates a portion of the calibration table based on the determined feedback error. The system generates a second control command to control the ADV based on the calibration table having the updated portion to control the ADV autonomously according to the second control command.
-
4.发明申请公开(公告)号：US20190084571A1
公开(公告)日：2019-03-21
申请号：US15560148
申请日：2017-09-18
申请人： Baidu USA LLC
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.
-
5.发明申请公开(公告)号：US20190276012A1
公开(公告)日：2019-09-12
申请号：US15772523
申请日：2018-03-08
IPC分类号： B60W30/085 , B60W30/095 , G05D1/00 , G05D1/02
摘要： It is determined an ADV is inevitable to collide with at least one of the objects surrounding the ADV based on the relative positions and speeds between the ADV and the objects in view of the physical dimensions of the ADV. An object may be another vehicle, a pedestrian, a bicycle, a static obstacle. For each of the objects, a collision cost between the ADV and the object is calculated using a set of one or more cost functions or cost algorithms. A collision cost represents an amount of potential damage if the collision is to occur. One of the objects is selected whose collision cost is the least amongst the objects. A path or trajectory is planned for the ADV leading or towards to the selected object to minimize the potential damage when the ADV potentially collide with the selected object compared to the remaining objects.
-
-
-
-
搜索结果
5 条记录 (耗时 0.016 秒)
