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1.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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2.发明授权公开(公告)号：US10452074B2
公开(公告)日：2019-10-22
申请号：US15510817
申请日：2017-03-10
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
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.
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3.发明授权公开(公告)号：US10549752B2
公开(公告)日：2020-02-04
申请号：US15518360
申请日：2017-03-30
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： 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.
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公开(公告)号：US10421463B2
公开(公告)日：2019-09-24
申请号：US15510914
申请日：2017-03-10
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
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.
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