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公开(公告)号：US11377119B2
公开(公告)日：2022-07-05
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.
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公开(公告)号：US11338855B2
公开(公告)日：2022-05-24
申请号：US16314352
申请日：2018-12-26
摘要： A three-point-turn is planned and executed in the operation of an autonomous driving vehicle (ADV). A candidate route from a start point and going through an end point is determined, the start point and the end point being in lanes associated with opposite travel directions. The candidate route is categorized into partially overlapping first, second, and third segments. A total cost associated with the candidate route is determined based at least in part on the first and second segments. Whether the total cost is below a threshold cost is determined. In response to a determination that the total cost is below the threshold cost, the three-point-turn is planned based on the candidate route. Further, driving signals are generated based at least in part on the planned three-point-turn to control operations of the ADV.
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3.发明授权公开(公告)号：US11267476B2
公开(公告)日：2022-03-08
申请号：US16338447
申请日：2019-03-28
IPC分类号： B60W40/072 , B60W30/12 , G06F17/12
摘要： A computer-implemented method, apparatus, and system for discretizing lane markings and for generating a lane reference line is disclosed. A polynomial defined over an (x,y) coordinate system is received, the polynomial being representative of at least a portion of a lane boundary line. A length of the polynomial is determined. The polynomial is discretized, comprising determining a plurality of discretization points on the polynomial to represent the polynomial, wherein a first discretization point is a first end of the polynomial, wherein subsequent discretization points are determined successively until the polynomial is completely discretized, and wherein each discretization point other than the first discretization point is determined based at least in part on a slope of the polynomial at a previous discretization point. Thereafter, a lane reference line comprising a plurality of points is generated based on the discretized polynomial.
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公开(公告)号：US11230297B2
公开(公告)日：2022-01-25
申请号：US16099883
申请日：2018-09-28
IPC分类号： B60W30/095 , G06K9/00 , B60W60/00 , B60W40/04 , G06F17/11
摘要： According to some embodiments, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV. The system identifies an obstacle in motion near the ADV based on the captured image. The system predicts a location for the moving obstacle at each of a number of time points. The system generates a probability ellipse based on the predicted location at the each time point, where the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point.
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5.发明授权公开(公告)号：US10365649B2
公开(公告)日：2019-07-30
申请号：US15522218
申请日：2017-04-19
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
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.
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公开(公告)号：US11584248B2
公开(公告)日：2023-02-21
申请号：US16753204
申请日：2020-03-20
发明人： Ning Yu , Fan Zhu , Jingjing Xue
摘要： In one embodiment, an exemplary method of autonomously charging an autonomous driving vehicle includes receiving, from a sensor in an autonomous driving vehicle (ADV), indication that a batter level of the ADV falls below a threshold; and selecting a charging pile from a plurality of charging piles on a high definition map based on information received from a cloud server. The method further includes generating a first trajectory based on a current location of the ADV and a location of the selected charging pile, the first trajectory connecting a first point representing the current location of the ADV to a second point at the selected charging pile, and including a first segment and a second segment. The method further includes driving forward along the first segment of the first trajectory, and driving backward along the second segment of the first trajectory when the ADV drives towards the selected charging pile along the first trajectory.
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公开(公告)号：US11529969B2
公开(公告)日：2022-12-20
申请号：US16759171
申请日：2020-04-10
发明人： Dongchun Yao , Fan Zhu , Leibing Lv , Xin Xu , Ning Yu
摘要： In response to a request to pull over an ADV at a destination point at a side of a lane, a path including a first segment, a second segment and a transition point is planned. The transition point is determined based on at least one of a distance to the destination point or a predetermined distance to a boundary of the side of the lane. The first segment from a start point to the transition point is generated by using a quadratic programming (QP) operation. The second segment from the transition point to the destination is generated based on a shape of the boundary. The ADV is controlled to pull over to the destination point according to the planned path.
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公开(公告)号：US11442450B2
公开(公告)日：2022-09-13
申请号：US16711118
申请日：2019-12-11
发明人： Dongchun Yao , Fan Zhu , Leibing Lv , Xin Xu , Ning Yu
摘要： According to one embodiment, in response to determining that an obstacle blocks at least a portion of a current lane in which an ADV is driving, an obstacle boundary of the obstacle is determined based on the size and shape of the obstacle. A lane configuration is determined based on map data of a map corresponding to a road associated with the lanes. A passing lane boundary that can be utilized by the ADV is determined based on the lane configuration of the road and the obstacle boundary of the obstacle. A passable area is calculated within the passing lane boundary based on a size of the ADV. The passable area is utilized by the ADV to pass the obstacle without collision. Thereafter, a trajectory is planned within the passable area boundary to control the ADV to pass the obstacle.
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公开(公告)号：US11325611B2
公开(公告)日：2022-05-10
申请号：US16314440
申请日：2018-12-26
摘要： A calibration table usable in operating an autonomous driving vehicle (ADV) is updated. The operations comprise: determining a first torque value at a first time instant prior to executing a control command; determining a control command based on a speed of the ADV, a desired acceleration, and an associated entry in the calibration table; executing the control command; determining a second torque value at a second time instant subsequent to executing the control command; determining a torque error value as a difference between the first and second torque values; updating the associated entry in the calibration table based at least in part on the torque error value; and generating driving signals based at least in part on the updated calibration table to control operations of the ADV.
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公开(公告)号：US11312380B2
公开(公告)日：2022-04-26
申请号：US16314368
申请日：2018-12-26
IPC分类号： B60W30/18 , B60W40/072 , G06K9/00 , B60W30/045 , B60W50/00 , G06N20/00
摘要： An ADV perceives a driving environment surrounding the ADV based on sensor data obtained from a variety of sensors mounted on the ADV including, for example, perceiving and recognizing a corner the ADV may be about to turn. Based on the perception data of the driving environment, a set of features representing the characteristics of an entrance point of a corner that the ADV is about to turn. Based on the characteristics of the corner, an entrance point of the corner is determined. Based on the entrance point, a lookup operation is performed in a corner mapping table to locate a mapping entry matching the entrance point. A turning radius is then obtained from the mapping entry of the corner mapping table. The turning radius obtained from the corner mapping table is then utilized to plan a trajectory (e.g., steering angle) to drive the ADV to turn the corner.
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