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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：US11036225B2
公开(公告)日：2021-06-15
申请号：US16066300
申请日：2018-04-18
发明人： Fan Zhu , Xin Xu , Qi Kong , Yuchang Pan , Feiyi Jiang , Liangliang Zhang , Jiaming Tao , Haoyang Fan , Hui Jiang
摘要： A first localization system performs a first localization using a first set of sensors to track locations of the ADV along the path from a starting point to a destination point. A first localization curve is generated as a result representing the locations of the ADV along the path tracked by the first localization system. Currently, a second localization system performs a second localization using a second set of sensors to track the locations of the ADV along the path. A second localization curve is generated as a result representing the locations of the ADV along the path tracked by the second localization system. A system delay of the second localization system is determined by comparing the second localization curve against the first localization curve as a localization reference. The system delay of the second localization system can then be utilized to compensate path planning of the ADV subsequently.
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公开(公告)号：US11260880B2
公开(公告)日：2022-03-01
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
IPC分类号： B60W60/00 , B60W30/09 , B60W30/095 , B60W30/12 , B60W30/14 , G01C21/34 , G08G1/16 , G01C21/36
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.
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