公开(公告)号：US20180297606A1

公开(公告)日：2018-10-18

申请号：US15510914

申请日：2017-03-10

申请人： Baidu USA LLC

发明人： Qi LUO ,  Qi KONG ,  Fan ZHU ,  Sen HU ,  Xiang YU ,  Zhenguang ZHU ,  Yuchang PAN ,  Jiarui HE ,  Haoyang FAN ,  Guang YANG ,  Jingao WANG

IPC分类号： B60W40/13 ,  B60W10/20

CPC分类号： B60W40/13 ,  B60W10/20 ,  B60W30/045 ,  B60W2040/1315 ,  B60W2050/0008 ,  B60W2050/0088 ,  B60W2510/22 ,  B60W2530/20 ,  B60W2550/402 ,  B62D6/002 ,  B62D7/159 ,  B62D15/025 ,  B62D15/0265 ,  G01G19/021 ,  G01M1/12

摘要： In one embodiment, a request is received to turn the autonomous driving vehicle (ADV) from a first direction to a second direction. In response to the request, a number of segment masses of a number of segments of the ADV are determined. The segment masses are located on a plurality of predetermined locations within a vehicle platform of the ADV. A location of a mass center for an entire ADV is calculated based on the segment masses of the segments of the ADV, where the mass center represents a center of an entire mass of the entire ADV. A steering control command based on the location of the mass center of the entire ADV for steering control of the ADV.

公开(公告)号：US20180186403A1

公开(公告)日：2018-07-05

申请号：US15316490

申请日：2016-11-24

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Xiang YU ,  Sen HU ,  Qi LUO ,  Zhenguang ZHU ,  Yuchang PAN ,  Wenli YANG ,  Guang YANG ,  Jingao WANG

IPC分类号： B62D6/00 ,  B62D6/02 ,  G05B19/402

CPC分类号： B62D6/002 ,  B62D6/02 ,  B62D15/025 ,  B62D15/0265 ,  G05B19/402 ,  G05B2219/42033 ,  G05D1/02 ,  G05D1/0212 ,  G05D2201/0213

摘要： In one embodiment, an autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.

公开(公告)号：US20180307234A1

公开(公告)日：2018-10-25

申请号：US15522218

申请日：2017-04-19

申请人： Baidu.com Times Technology (Beijing) Co., Ltd. ,  Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Qi LUO ,  Xiang YU ,  Sen HU ,  Zhenguang ZHU ,  Xiaoxin FU ,  Jiarui HE ,  Hongye LI ,  Yuchang PAN ,  Zhongpu XIA ,  Chunming ZHAO ,  Guang YANG ,  Jingao WANG

IPC分类号： G05D1/02 ,  G05D1/00

CPC分类号： G05D1/0212 ,  G05D1/0088 ,  G05D1/0246 ,  G05D2201/0213

摘要： In one embodiment, a lane departure detection system detects at a first point in time that a wheel of an ADV rolls onto a lane curb disposed on an edge of a lane in which the ADV is moving. The system detects at a second point in time that the wheel of the ADV rolls off the lane curb of the lane. The system calculates an angle between a moving direction of the ADV and a lane direction of the lane based on the time difference between the first point in time and the second point in time in view of a current speed of the ADV. The system then generates a control command based on the angle to adjust the moving direction of the ADV in order to prevent the ADV from further drifting off the lane direction of the lane.

公开(公告)号：US20180299898A1

公开(公告)日：2018-10-18

申请号：US15510817

申请日：2017-03-10

申请人： Baidu USA LLC

发明人： Qi LUO ,  Qi KONG ,  Fan ZHU ,  Sen HU ,  Xiang YU ,  Zhenguang ZHU ,  Yuchang PAN ,  Jiarui HE ,  Haoyang FAN ,  Guang YANG ,  Jingao WANG

IPC分类号： G05D1/02

摘要： When an ADV is detected to transition from a manual driving mode to an autonomous driving mode, a first pedal value corresponding to a speed of the ADV at a previous command cycle during which the ADV was operating in the manual driving mode is determined. A second pedal value is determined based on a target speed of the ADV at a current command cycle during which the ADV is operating in an autonomous driving mode. A pedal value represents a pedal percentage of a maximum pedal pressure or maximum pedal pressed distance of a throttle pedal or brake pedal from a neutral position. A speed command is generated and issued to the ADV based on the first pedal value and the second pedal value, such that the ADV runs in a similar acceleration before and after switching from the manual driving mode to the autonomous driving mode.

公开(公告)号：US20190003839A1

公开(公告)日：2019-01-03

申请号：US15532861

申请日：2017-05-22

申请人： Baidu USA LLC

发明人： Sen HU ,  Fan ZHU ,  Qi KONG ,  Qi LUO ,  Xiang YU ,  Zhenguang ZHU ,  Xiaoxin FU ,  Jiarui HE ,  Hongye LI ,  Yuchang PAN ,  Zhongpu XIA ,  Chunming ZHAO ,  Guang YANG ,  Jingao WANG

IPC分类号： G01C21/32 ,  G06F17/30 ,  B60W40/072 ,  G05D1/00

摘要： In one embodiment, when an ADV is driving on a road segment, a driving parameter is recorded in response to a first control command. A difference between the first driving parameter and a target driving parameter corresponding to the first control command is determined. In response to determining that the difference exceeds a predetermined threshold, a second control command is issued to compensate the difference and cause the ADV to drive with a second driving parameter closer to the target driving parameter. A slope status of the road segment is derived based on at least the second control command. Map data of a map corresponding to the road segment of the road is updated based on the derived slope status. The updated map can be utilized to generate and issue proper control commands in view of the slope status of the road when the ADV drives on the same road subsequently.

公开(公告)号：US20180196440A1

公开(公告)日：2018-07-12

申请号：US15313523

申请日：2016-11-17

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Xiang YU ,  Sen HU ,  Qi LUO ,  Zhenguang ZHU ,  Yuchang PAN ,  Wenli YANG ,  Guang YANG ,  Jingao WANG

IPC分类号： G05D1/02 ,  G05D1/00 ,  B60W40/02

摘要： In one embodiment, an autonomous driving vehicle (ADV) speed following system determines how much and when to apply a throttle or a brake control of an ADV to maneuver the ADV around, or to avoid, obstacles of a planned route. The speed following system calculates a first torque force to accelerate the ADV, a second torque force to counteract frictional forces and wind resistances to maintain a reference speed, and a third torque force to minimize an initial difference and external disturbances thereafter between predefined target speed and actual speed of the ADV over a planned route. The speed following system determines a throttle-brake torque force based on the first, second, and third torque forces and utilizes the throttle-brake torque force to control a subsequent speed of the ADV.

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.

公开(公告)号：US20180334166A1

公开(公告)日：2018-11-22

申请号：US15518360

申请日：2017-03-30

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Qi LUO ,  Xiang YU ,  Sen HU ,  Zhenguang ZHU ,  Xiaoxin FU ,  Jiarui HE ,  Hongye LI ,  Yuchang PAN ,  Zhongpu XIA ,  Chunming ZHAO ,  Guang YANG ,  Jingao WANG

IPC分类号： B60W30/12 ,  B60W10/20 ,  B60W10/18 ,  B60W10/04 ,  G05D1/00 ,  G05D1/02

摘要： A lane departure detection system detects that an autonomous driving vehicle (ADV) is departing from the lane in which the ADV is driving based on sensor data captured when the ADV contact a deceleration curb such as a speed bump laid across the lane. When the ADV contacts the deceleration curb, the lane departure detection system detects and calculates an angle of a moving direction of the ADV vs a longitudinal direction of the deceleration curb. Based on the angle, the system calculates how much the moving direction of the ADV is off compared to a lane direction of the lane. The lane direction is typically substantially perpendicular to the longitudinal direction of the deceleration curb. A control command such as a speed control command and/or a steering control command is generated based on the angle to correct the moving direction of the ADV.

公开(公告)号：US20180251135A1

公开(公告)日：2018-09-06

申请号：US15509181

申请日：2017-03-03

申请人： Baidu USA LLC ,  Baidu.com Times Technology (Beijing) Co., Ltd.

发明人： Qi LUO ,  Qi KONG ,  Fan ZHU ,  Sen HU ,  Xiang YU ,  Zhenguang ZHU ,  Yuchang PAN ,  Jiarui HE ,  Haoyang FAN ,  Guang YANG ,  Jingao WANG

IPC分类号： B60W50/08 ,  G05D1/00 ,  G05D1/02

CPC分类号： B60W50/08 ,  B60W30/143 ,  B60W50/082 ,  B60W2050/0074 ,  B60W2050/0096 ,  B60W2510/0657 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2540/10 ,  B60W2550/402 ,  B60W2720/10 ,  B60W2720/106 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/0223 ,  G05D2201/0213

摘要： According to one embodiment, when an ADV transitions from a manual driving mode to an autonomous driving mode, a first speed reference is determined based on a current position of the ADV. The current position of the ADV is dynamically measured in response to a speed control command issued in a previous command cycle and a target speed of a current command cycle. A second speed reference is determined based on a current target position for a current command cycle. A speed control command is then generated for controlling the speed of the ADV in the autonomous driving mode based on the first speed reference, the second speed reference, and the target speed of the ADV for the current command cycle, such that the ADV operates in a similar acceleration rate or deceleration rate before and after transitioning from the manual driving mode to the autonomous driving mode.