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公开(公告)号：US11814073B2
公开(公告)日：2023-11-14
申请号：US16823141
申请日：2020-03-18
Applicant: Baidu USA LLC
Inventor： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Yu Wang , Jinyun Zhou , Jiaming Tao , Kecheng Xu
IPC: B60W60/00
CPC classification number: B60W60/0011 , B60W60/0017 , B60W60/00182
Abstract: In one embodiment, a control command is generated with an MPC controller, the MPC controller including a cost function with weights associated with cost terms of the cost function. The control command is applied to a dynamic model of an autonomous driving vehicle (ADV) to simulate behavior of the ADV. One or more of the weights are based on evaluation of the dynamic model in response to the control command, resulting in an adjusted cost function of the MPC controller. Another control command is generated with the MPC controller having the adjusted cost function. This second control command can be used to effect movement of the ADV.
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公开(公告)号：US11738771B2
公开(公告)日：2023-08-29
申请号：US16627257
申请日：2019-12-20
Inventor： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Yu Wang , Jiaxuan Xu , Jinyun Zhou , Kuang Hu , Chao Ma
CPC classification number: B60W60/0011 , B60W10/06 , B60W10/18 , B60W10/20
Abstract: A simulation of an autonomous driving vehicle (ADV) includes capturing first data that includes a control command output by an autonomous vehicle controller of the ADV, and capturing second data that includes the control command being implemented at a control unit of the ADV. The control command, for example, a steering command, a braking command, or a throttle command, is implemented by the ADV to affect movement of the ADV. A latency model is determined based on comparing the first data with the second data, where the latency model defines time delay and/or amplitude difference between the first data and the second data. The latency model is applied in a virtual driving environment.
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3.发明授权公开(公告)号：US11586209B2
公开(公告)日：2023-02-21
申请号：US16843545
申请日：2020-04-08
Applicant: Baidu USA LLC
Inventor： Qi Luo , Jinyun Zhou , Shu Jiang , Jiaming Tao , Yu Wang , Jiaxuan Xu , Kecheng Xu , Jinghao Miao , Jiangtao Hu
Abstract: In one embodiment, method performed by an autonomous driving vehicle (ADV) that determines, within a driving space, a plurality of routes from a current location of the ADV to a desired location. The method determines, for each route of the plurality of routes, an objective function to control the ADV autonomously along the route and, for each of the objective functions, performs Differential Dynamic Programming (DDP) optimization in view of a set of constraints to produce a path trajectory. The method determines whether at least one of the path trajectories satisfies each constraint and, in response to a path trajectory satisfying each of the constraints, selects the path trajectory for navigating the ADV from the current location to the desired location.
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公开(公告)号：US11183059B2
公开(公告)日：2021-11-23
申请号：US16391232
申请日：2019-04-22
Applicant: Baidu USA LLC
Inventor： Jinyun Zhou , Runxin He , Qi Luo , Jinghao Miao , Jiangtao Hu , Yu Wang , Jiaxuan Xu , Shu Jiang
Abstract: According to one embodiment, in response to a request to park an ADV into a parking lot, a remote server is accessed over a network (e.g., a VX2 link) to obtain a list of parking spaces that appear to be available in the parking lot. Based on the list of available parking spaces and the map associated with the parking lot, a route is generated to navigate through at least the available parking spaces. The ADV is driven according to the route to locate at least one of the available parking spaces and to park the ADV into the located available parking space. The centralized server is configured to periodically receive signals from a number of parking lots indicating which of the parking spaces of the parking lots are apparently available.
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公开(公告)号：US11097748B2
公开(公告)日：2021-08-24
申请号：US16168709
申请日：2018-10-23
Applicant: Baidu USA LLC
Inventor： Liangliang Zhang , Dong Li , Jiangtao Hu , Jiaming Tao , Jinyun Zhou
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US11628858B2
公开(公告)日：2023-04-18
申请号：US17021207
申请日：2020-09-15
Applicant: Baidu USA LLC
Inventor： Yifei Jiang , Jinyun Zhou , Jiaming Tao , Shu Jiang , Jiangtao Hu , Jinghao Miao , Shiyu Song
Abstract: In one embodiment, a system/method generates a driving trajectory for an autonomous driving vehicle (ADV). The system perceives an environment of an autonomous driving vehicle (ADV). The system determines one or more bounding conditions based on the perceived environment. The system generates a first trajectory using a neural network model, wherein the neural network model is trained to generate a driving trajectory. The system evaluates/determines if the first trajectory satisfies the one or more bounding conditions. If the first trajectory satisfies the one or more bounding conditions, the system controls the ADV autonomously according to the first trajectory. Otherwise, the system controls the ADV autonomously according to a second trajectory, where the second trajectory is generated based on an objective function, where the objective function is determined based on at least the one or more bounding conditions.
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公开(公告)号：US11560159B2
公开(公告)日：2023-01-24
申请号：US16830090
申请日：2020-03-25
Applicant: Baidu USA LLC
Inventor： Jiaming Tao , Qi Luo , Jinyun Zhou , Kecheng Xu , Yu Wang , Shu Jiang , Jiangtao Hu , Jinghao Miao
Abstract: In one embodiment, a plurality of obstacles is sensed in an environment of an automated driving vehicle (ADV). One or more representations are formed to represent corresponding groupings of the plurality of obstacles. A vehicle route is determined in view of the one or more representations, rather than each and every one of the obstacles individually.
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公开(公告)号：US11409284B2
公开(公告)日：2022-08-09
申请号：US16413315
申请日：2019-05-15
Applicant: Baidu USA LLC
Inventor： Runxin He , Jinyun Zhou , Qi Luo , Shiyu Song , Jinghao Miao , Jiangtao Hu , Yu Wang , Jiaxuan Xu , Shu Jiang
IPC: G01C22/00 , G05D1/00 , G05D1/02 , G06F16/9537
Abstract: In one embodiment, an open space model is generated for a system to plan trajectories for an ADV in an open space. The system perceives an environment surrounding an ADV including one or more obstacles. The system determines a target function for the open space model based on constraints for the one or more obstacles and map information. The system iteratively, performs a first quadratic programming (QP) optimization on the target function based on a first trajectory while fixing a first set of variables, and performs a second QP optimization on the target function based on a result of the first QP optimization while fixing a second set of variables. The system generates a second trajectory based on results of the first and the second QP optimizations to control the ADV autonomously according to the second trajectory.
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公开(公告)号：US11269329B2
公开(公告)日：2022-03-08
申请号：US16659040
申请日：2019-10-21
Applicant: Baidu USA LLC
Inventor： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Jiaxuan Xu , Jingao Wang , Yu Wang , Jinyun Zhou , Runxin He
Abstract: In one embodiment, a set of parameters representing a first state of an autonomous driving vehicle (ADV) to be simulated and a set of control commands to be issued at a first point in time. In response, a localization predictive model is applied to the set of parameters to determine a first position (e.g., x, y) of the ADV. A localization correction model is applied to the set of parameters to determine a set of localization correction factors (e.g., Δx, Δy). The correction factors may represent the errors between the predicted position of the ADV by the localization predictive model and the ground truth measured by sensors of the vehicle. Based on the first position of the ADV and the correction factors, a second position of the ADV is determined as the simulated position of the ADV.
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公开(公告)号：US11180165B2
公开(公告)日：2021-11-23
申请号：US16727799
申请日：2019-12-26
Applicant: Baidu USA LLC
Inventor： Jinyun Zhou , Shu Jiang , Jiaming Tao , Qi Luo , Jinghao Miao , Jiangtao Hu , Jiaxuan Xu , Yu Wang
Abstract: In one embodiment, an autonomous driving vehicle (ADV) operates in an on-lane mode, where the ADV follows a path along a vehicle lane. In response to determining that the ADV is approaching a dead-end, the ADV switches to an open-space mode. While in the open-space mode, the ADV conducts a three-point turn using a series of steering and throttle commands to generate forward and reverse movements until the ADV is within a) a threshold heading, and b) a threshold distance, relative to the vehicle lane. The ADV can then return to the on-lane mode and resume along the vehicle lane away from the dead-end.
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