公开(公告)号：US20190079523A1

公开(公告)日：2019-03-14

申请号：US15701411

申请日：2017-09-11

Applicant: Baidu USA LLC

Inventor： FAN ZHU ,  QI KONG ,  WEICHENG ZHU ,  HAOYANG FAN ,  LI ZHUANG

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00

Abstract: According to some embodiments, a system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and an obstacle information describing one or more obstacles perceived by the ADV. The system generates a speed profile based on the path profile, where the speed profile includes, for each of the obstacles, a decision to yield or overtake the obstacle. The system performs a quadratic programming optimization on the path profile and the speed profile to identify an optimal path with optimal speeds. The system generates a second trajectory based on the optimal path and optimal speeds to control the ADV autonomously according to the second trajectory.

公开(公告)号：US20200209872A1

公开(公告)日：2020-07-02

申请号：US16233494

申请日：2018-12-27

Applicant: Baidu USA LLC

Inventor： KECHENG XU ,  HAOYANG FAN ,  YAJIA ZHANG ,  Qi LUO ,  JIACHENG PAN ,  JINGHAO MIAO

IPC: G05D1/02 ,  G05D1/00 ,  G06N20/00 ,  G06N3/08 ,  G06N5/04 ,  G06K9/00 ,  B60W40/072

Abstract: In one embodiment, a data processing system for an autonomous driving vehicle (ADV) includes a processor, and a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations. The operations include generating a station-time (ST) graph based on perception data obtained from one or more sensors of the ADV, the ST graph including representing a location of an obstacle at different points in time, obtaining a tensor based on the ST graph, the tensor including a plurality of layers, the plurality of layers including a first layer having data representing one or more obstacles on a path in which the ADV is moving, applying a machine-learning model to the plurality of layers of the tensor to generate a plurality of numerical values, the plurality of numerical values defining a potential path trajectory of the ADV, and determining a path trajectory of the ADV based on the plurality of numerical values.

公开(公告)号：US20190220012A1

公开(公告)日：2019-07-18

申请号：US15874859

申请日：2018-01-18

Applicant: Baidu USA LLC

Inventor： YAJIA ZHANG ,  HAOYANG FAN ,  LIANGLIANG ZHANG ,  WEICHENG ZHU ,  QI KONG ,  JINGAO WANG

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0088 ,  G05D1/0212

Abstract: According to one embodiment, an ADV is controlled according to a first trajectory planned during a first planning cycle. A control error is determined which represents a drifting error at a first location of the ADV at a first point in time at the end of the first planning cycle. A second point in time is selected on the first trajectory. A second trajectory is generated from a second location on the first trajectory corresponding o the second point in time as a starting location of the second trajectory for a second planning cycle as a next planning cycle. A segment of the first trajectory between the first point in time and the second point in time is combined with the second trajectory to generate a third trajectory for the second planning cycle. The ADV is driven and controlled according to the third trajectory corresponding to the second planning cycle.