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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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2.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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4.发明授权公开(公告)号：US11414096B2
公开(公告)日：2022-08-16
申请号：US16338413
申请日：2019-03-28
摘要： In one embodiment, a method includes the operation of segmenting a raw reference line into a plurality of reference line segments, including a first reference line segment, a second reference segment, and a third reference line segment in a sequential order, in response to receiving the raw reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV). The method further includes the operations of smoothing the first reference line segment and the third reference line segment using a Quadratic programming (QP) spline smoother; and smoothing the second reference line segment using a spiral smoother. Smoothed reference line segments from the plurality of reference line segments are connected to generate a smoothed reference line, which is to be used as a reference line of the route to control the ADV.
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公开(公告)号：US11360483B2
公开(公告)日：2022-06-14
申请号：US16314361
申请日：2018-12-26
摘要： In one embodiment, an autonomous driving system perceives a driving environment surrounding an ADV based on sensor data obtained from various sensors, including identifying one or more objects. For each of the objects, an arc curve is generated connecting the object and a current location of the ADV using a predetermined algorithm. A curvature of the arc curve is calculated. One of the arc curves is selected in which the curvature of the selected arc curve satisfies a predetermined condition, such as the lowest curvature amongst all objects. A reference line is then generated by connecting the selected object and the current location of the ADV. The connected line between the selected object and the ADV is utilized as a part of a reference line. The reference line is utilized to generate a trajectory to drive the ADV.
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公开(公告)号：US11269340B2
公开(公告)日：2022-03-08
申请号：US16265772
申请日：2019-02-01
摘要： Embodiments of the present disclosure disclose a method for determining a vehicle control parameter, an apparatus for the same, a vehicle on-board controller, and an autonomous vehicle. An embodiment of the method comprises: obtaining a lateral offset sequence of a vehicle and a control input sequence of a controller for controlling a lateral output of the vehicle, wherein a lateral offset in the lateral offset sequence is for characterizing an offset between an actual lateral output of the vehicle and a desired lateral output; executing a step of determining a vehicle control parameter; wherein the executing the step of determining the vehicle control parameter includes: with the lateral offset sequence as an input and the control input sequence as the desired output, training a pre-established vehicle dynamic model to obtain a trained vehicle dynamic model; and determining the vehicle control parameter from the trained vehicle dynamic model.
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公开(公告)号：US11724717B2
公开(公告)日：2023-08-15
申请号：US16627748
申请日：2019-12-20
CPC分类号： B60W60/0016 , B60W30/09
摘要： Various embodiments of the invention enable an ADV to dynamically adjust its behaviors to emulate behaviors of a vehicle operated by a human driver when the ADV encounters an obstacle. A dynamic cost function can be used to collect real-time values of a set of parameters, and use the real-time values to constantly adjust a preferred safety distance where the ADV can be stopped ahead of the obstacle. An method includes determining a first distance to the obstacle in response to detecting an obstacle ahead of the ADV; and for each of a number of iterations, collecting a real-time value for each of a set of parameters, determining an offset to the first distance using the real-time value for each of the set of parameters, calculating a second distance based on the first distance and the offset, and controlling the ADV in view of the second distance using an expected value of each of the set of parameters, such that the ADV can stop at a point having the second distance to the obstacle.
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公开(公告)号：US11586202B2
公开(公告)日：2023-02-21
申请号：US16338398
申请日：2019-03-28
摘要： The disclosure describes various embodiments for monitoring safety of an autonomous driving vehicle (ADV). In one embodiment, a method includes the operations of receiving, by a vehicle controller, one or more error message from a patrol module, the one or more error messages generated by an autonomous driving system of the ADV operating in an autonomous mode, the patrol module monitoring the autonomous driving system; evaluating a status of the autonomous driving system based on the one or more error messages; and keeping the ADV in the autonomous mode or switching it to a manual mode based on the status of the autonomous driving system.
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公开(公告)号：US11327498B2
公开(公告)日：2022-05-10
申请号：US16314332
申请日：2018-12-26
摘要： According to various embodiments, systems and methods for smoothing a reference line for an autonomous driving vehicle are described. In an exemplary method, a raw reference line can be generated from a high definition map and routing results, and can be truncated based on a predetermined formula. The truncated raw reference line can include a number of points, each point representing a position of an autonomous driving vehicle in a global coordinate system. The number of points can be converted to points in a local coordinate system, where a polynomial curve that best fits the points are generated. The polynomial curve can subsequently be used to generate a new vertical coordinate for a horizontal coordinate of each of the number of points. The new vertical coordinates and their corresponding horizontal coordinates can be converted back to the global coordinate system. The polynomial curve can be used to derive a heading, a kappa, and a dkappa for each point in the global coordinate system.
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公开(公告)号：US11713057B2
公开(公告)日：2023-08-01
申请号：US16646958
申请日：2020-01-23
CPC分类号： B60W60/0018 , B60W10/20 , B60W50/06 , B60W50/10 , B60W2520/06 , B60W2520/10 , B60W2552/15 , B60W2554/4049 , B60W2555/20
摘要： A lateral control error of a steering system of an ADV is determined, which includes iteratively performing following operations for a predetermined time period. Whether the ADV is moving within a predetermined proximity of a current moving direction is determined. Next, whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition is determined. Then, a first steering feedback of the ADV in response to a prior steering control command is measured. Thereafter, the lateral control error is determined based on at least a portion of the first steering feedback over the predetermined time period. Further, a steering command in view of the lateral control error of the steering system is generated. Finally, the steering command is applied to control the ADV to compensate the lateral control error of the steering system.
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