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公开(公告)号：US11511760B2
公开(公告)日：2022-11-29
申请号：US16643154
申请日：2020-01-23
发明人： Yu Wang , Qi Luo , Yu Cao , Zongbao Feng , Longtao Lin , Xiangquan Xiao , Jinghao Miao , Jiangtao Hu , Jingao Wang , Shu Jiang , Jinyun Zhou , Jiaxuan Xu
IPC分类号： B60W40/105 , G06F16/23 , G06F16/9035 , B60W50/00
摘要： Systems and methods are disclosed for collecting driving data from simulated autonomous driving vehicle (ADV) driving sessions and real-world ADV driving sessions. The driving data is processed to exclude manual (human) driving data and to exclude data corresponding to the ADV being stationary (not driving). Data can further be filtered based on driving direction: forward or reverse driving. Driving data records are time stamped. The driving data can be aligned according to the timestamp, then a standardized set of metrics is generated from the collected, filtered, and time-aligned data. The standardized set of metrics are used to grade the performance the control system of the ADV, and to generate an updated ADV controller, based on the standardized set of metrics.
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公开(公告)号：US11352010B2
公开(公告)日：2022-06-07
申请号：US16588693
申请日：2019-09-30
发明人： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Jiaxuan Xu , Jingao Wang , Yu Wang , Jinyun Zhou , Runxin He
摘要： In one embodiment, an autonomous driving system of an autonomous driving vehicle perceives a driving environment surrounding the autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment. The system detects a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle. The system further calibrates the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle. The system then controls the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.
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公开(公告)号：US11338819B2
公开(公告)日：2022-05-24
申请号：US16588586
申请日：2019-09-30
发明人： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Xiangquan Xiao , Jiaxuan Xu , Yu Wang , Jinyun Zhou , Runxin He
IPC分类号： B60W50/04 , G06N20/00 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/18 , G05D1/00 , G06N5/04 , B60W50/00
摘要： In one embodiment, a computer-implemented method for calibrating autonomous driving vehicles at a cloud-based server includes receiving, at the cloud-based server, one or more vehicle calibration requests from at least one user, each vehicle calibration request including calibration data for one or more vehicles and processing in parallel, by the cloud-based server, the one or more vehicle calibration requests for the at least one user to generate a calibration result for each vehicle. The method further includes sending, by the cloud-based server, the calibration result for each vehicle to the at least one user.
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公开(公告)号：US11080975B2
公开(公告)日：2021-08-03
申请号：US16074081
申请日：2018-06-29
发明人： Yiqun Fu , Liangliang Zhang , Shengxiang Liu , Jiangtao Hu
IPC分类号： G08B13/196 , B60R25/102 , B60R25/31 , B60R25/30
摘要： Various techniques for theft proofing autonomous driving vehicles (ADV) for transporting goods are described. In one embodiment, sensor data of a moving object representing a person within a predetermined proximity of an ADV are captured for real-time analysis by a theft detection module, to determine a moving behavior of the moving object based on the sensor data in view of a set of known moving behaviors. The theft detection module further determines whether an intention of the person is likely to remove at least some of the goods from the ADV using a process derived from historical image set, and sends an alarm to a predetermined destination in response to determining such an intention of the person. Other sensor data, for example, real time movements and weights of the ADV, can be used in conjunction with the process derived from historical image sets to determine the intention of the person.
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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
发明人： Shu Jiang , Qi Luo , Jinghao Miao , Jiangtao Hu , Yu Wang , Jiaxuan Xu , Jinyun Zhou , Kuang Hu , Chao Ma
CPC分类号： B60W60/0011 , B60W10/06 , B60W10/18 , B60W10/20
摘要： 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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公开(公告)号：US12116010B2
公开(公告)日：2024-10-15
申请号：US17645857
申请日：2021-12-23
申请人： Baidu USA LLC
发明人： Shu Jiang , Weiman Lin , Yu Cao , Jiangtao Hu , Jinghao Miao
CPC分类号： B60W60/0011 , B60W30/143 , B60W40/02 , B60W60/0015 , G06N3/02 , G06V20/58 , B60W2555/60 , B60W2556/40
摘要： According to some embodiments, described herein is a method and a system for guaranteeing safety at a control level of an ADV when at least a portion of a planned path generated by a planning module of the ADV is uncertain due to traffics and/or road condition changes. The planning module, when generating a path, also generate a confidence level of each segment of the path based on one or more of perception data, map information, or traffic rules. The confidence levels are decreasing further away from the ADV. When the control module of the ADV obtains the path and the associated confidence levels, the control module issue control commands to track only one or two segments whose confidence levels exceeds a threshold hold, and issue default control commands for the rest of the path.
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公开(公告)号：US12017663B2
公开(公告)日：2024-06-25
申请号：US17205725
申请日：2021-03-18
申请人： Baidu USA LLC
发明人： Liangliang Zhang , Dong Li , Jiangtao Hu , Jiaming Tao , Yifei Jiang
CPC分类号： B60W50/0097 , G01C21/3446 , G05D1/0088 , G05D1/0214 , G05D1/0221 , G06N20/00 , G06V10/776 , G06V10/96 , G06V20/58
摘要： A sensor aggregation framework for autonomous driving vehicles is disclosed. In one embodiment, sensor data is collected from one or more sensors mounted on an autonomous driving vehicle (ADV) while the ADV is moving within a region of interest (ROI) that includes a number of obstacles. The sensor data includes obstacle information of the obstacles and vehicle data of the ADV. Each of the vehicle data is timestamped with a current time at which the vehicle data is captured to generate a number of timestamps that correspond to the vehicle data. The obstacle information, the vehicle data, and the corresponding timestamps are aggregated into training data. The training data is used to train a set of parameters that is subsequently utilized to predict at least in part future obstacle behaviors and vehicle movement of the ADV.
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公开(公告)号：US11731651B2
公开(公告)日：2023-08-22
申请号：US17039685
申请日：2020-09-30
申请人： Baidu USA LLC
发明人： Weiman Lin , Yu Cao , Yu Wang , Qi Luo , Shu Jiang , Xiangquan Xiao , Longtao Lin , Jinghao Miao , Jiangtao Hu
CPC分类号： B60W60/0011 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/18009 , G01C21/3453
摘要： Systems and methods are disclosed for optimizing values of a set of tunable parameters of an autonomous driving vehicle (ADV). The controllers can be a linear quadratic regular, a “bicycle model,” a model-reference adaptive controller (MRAC) that reduces actuation latency in control subsystems such as steering, braking, and throttle, or other controller (“controllers”). An optimizer selects a set tunable parameters for the controllers. A task distribution system pairs each set of parameters with each of a plurality of simulated driving scenarios, and dispatches a task to the simulator to perform the simulation with the set of parameters. Each simulation is scored. A weighted score is generated from the simulation. The optimizer uses the weighted score as a target objective for a next iteration of the optimizer, for a fixed number of iterations. A physical real-world ADV is navigated using the optimized set of parameters for the controllers in the ADV.
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公开(公告)号：US11628858B2
公开(公告)日：2023-04-18
申请号：US17021207
申请日：2020-09-15
申请人： Baidu USA LLC
发明人： Yifei Jiang , Jinyun Zhou , Jiaming Tao , Shu Jiang , Jiangtao Hu , Jinghao Miao , Shiyu Song
摘要： 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
申请人： Baidu USA LLC
发明人： Jiaming Tao , Qi Luo , Jinyun Zhou , Kecheng Xu , Yu Wang , Shu Jiang , Jiangtao Hu , Jinghao Miao
摘要： 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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