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公开(公告)号：US11488389B2
公开(公告)日：2022-11-01
申请号：US16494738
申请日：2019-08-30
发明人： Shuai Wang , Manjiang Zhang , Yaoming Shen , Xiangfei Zhou , Lingchang Li , Xianfei Li
摘要： In some implementations, a method of verifying operation of a sensor is provided. The method includes causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector. The method also includes determining that the detector has detected the waves at a second time. The method further includes receiving the sensor data from the sensor at a third time. The method further includes verifying operation of the sensor based on at least one of the first time, the second time, or the third time.
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公开(公告)号：US11250701B2
公开(公告)日：2022-02-15
申请号：US16099862
申请日：2018-08-24
发明人： Manjiang Zhang , Xiangtao You , Davy Huang , Tiffany Zhang , Shuai Wang
IPC分类号： G08G1/09 , B60W60/00 , B60W10/04 , G01S19/42 , H04W4/48 , H04L29/08 , B60W30/10 , B60W10/18 , B60W10/20 , G08G1/00
摘要： In one embodiment, a sensor unit to be utilized in an autonomous driving vehicle (ADV) includes a sensor interface that can be coupled to a number of sensors mounted on a number of different locations of the ADV. The sensor unit further includes a host interface that can be coupled to a host system such as a planning and control system utilized to autonomously drive the vehicle. The sensor unit further includes a number of data transfer modules corresponding to the sensors. Each of the data transfer modules can be configured to operate in one of the operating modes, dependent upon the type of the corresponding sensor. The operating modes include a low latency mode, a high bandwidth mode, and a memory mode.
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公开(公告)号：US11136048B2
公开(公告)日：2021-10-05
申请号：US16485423
申请日：2019-07-22
发明人： Shuai Wang , Shuangcheng Guo , Xianfei Li , Chongchong Li , Jian Sheng , Davy Huang , Manjiang Zhang
摘要： The disclosure describes various embodiments for online system-level validation of sensor synchronization. According to an embodiment, an exemplary method of analyzing sensor synchronization in an autonomous driving vehicle (ADV) include the operations of acquiring raw sensor data from a first sensor and a second sensor mounted on the ADV, the raw sensor data describing a target object in a surrounding environment of the ADV; and generating an accuracy map based on the raw sensor data in view of timestamps extracted from the raw sensor data. The method further includes the operations of generating a first bounding box and a second bounding box around the target object using the raw sensor data; and performing an analysis of the first and second bounding boxes and the accuracy map using a predetermined algorithm in view of one or more pre-configured sensor settings to determine whether the first sensor and the second sensor are synchronized with each other.
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公开(公告)号：US11338823B2
公开(公告)日：2022-05-24
申请号：US16461364
申请日：2019-04-29
发明人： Shuangcheng Guo , Shuai Wang , Shengjin Zhou , Ji Wan , Haidong Liu , Ning Qu , Hongshun Shen , Manjiang Zhang
摘要： An ADV includes a method to combine data from multiple sensors. The method compresses video data from a camera to generate compressed video data. The compressed video data are segmented. The method time synchronizes each segment of the compressed video data with data from other sensors. The method then combines each segment of the compressed video data with the corresponding time-synchronized sensor data for the other sensors. In one embodiment, each segment of the compressed video data is independently decodable. In another embodiment, each segment of the compressed video data includes a compressed video unit that is prepended with a buffered portion of the compressed video data that immediately precede the compressed video unit. The length of the compressed video unit is smaller than the length of the independently decodable segment to offer finer granularity in time synchronizing the compressed video data with the other sensor data with a tradeoff.
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公开(公告)号：US11245909B2
公开(公告)日：2022-02-08
申请号：US16461350
申请日：2019-04-29
发明人： Manjiang Zhang , Shengjin Zhou , Shuai Wang , Shuangcheng Guo
IPC分类号： H04N7/12 , H04N19/172 , H04N19/46
摘要： A method to perform video compression for ADV is disclosed. The method receives multiple frames of image data from multiple cameras. Metadata are appended to each frame of the image data to generate one of multiple frames of uncompressed image data as the image data are received. The frames of uncompressed image data may be stored. To compress the image data later, the method retrieves the frames of uncompressed image data, extracts the metadata from each frame of the uncompressed image data to generate one of multiple frames of processed image data. The method compresses each frame of the processed image data with the metadata extracted to generate one of multiple frames of compressed image data. The method reattaches the metadata to a corresponding frame of the compressed image data to generate one of multiple compressed image frames. The metadata supports time synchronization and error handling of the image data.
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公开(公告)号：US11182623B2
公开(公告)日：2021-11-23
申请号：US16399457
申请日：2019-04-30
申请人： Baidu USA LLC
发明人： Kwan Oh , Manjiang Zhang , Min Guo , Tiffany Zhang , Chang Shu
摘要： A sensor unit includes a sensor interface, host interface, and pre-processing hardware. The sensor interface is coupled to a plurality of cameras configured to capture images around an autonomous driving vehicle (ADV). The host interface is coupled to a perception and planning system. The pre-processing hardware is coupled to the sensor interface to receive images from the plurality of cameras and to perform one or more pre-processing functions on the images and to transmit pre-processed images to the perception and planning system via the host interface. The perception and planning system is configured to perceive a driving environment surrounding the ADV based on the pre-processed images and to plan a path to control the ADV to navigate through the driving environment. The pre-processing functions can adjust for different calibrations and formats across the plurality of cameras.
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公开(公告)号：US10890914B2
公开(公告)日：2021-01-12
申请号：US16112349
申请日：2018-08-24
申请人： Baidu USA LLC
发明人： Manjiang Zhang , Oh Kwan , Tiffany Zhang
IPC分类号： G01S7/484 , G01S7/487 , G05D1/02 , G01S17/931 , G01S17/42
摘要： A sensor unit includes a sensor interface coupled to a number of sensors and a host interface coupled to a host system utilized to autonomously drive the vehicle. The sensor unit further includes sensor control modules corresponding to the sensors. Each sensor control module includes delay time control logic, delay adjustment logic, and a trigger signal generator. The delay time control logic is to receive a pulse time adjustment (PTA) value from the host system. The delay adjustment logic is to receive a trigger time adjustment (TTA) value from the host system. The delay adjustment logic is to modify timing of at least a portion of the pulses of a pulse signal based on the PTA value and the TTA value. The trigger signal generator is to generate a trigger signal based on the modified pulse signal and to transmit the trigger signal to a corresponding sensor.
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8.发明申请公开(公告)号：US20170323045A1
公开(公告)日：2017-11-09
申请号：US15148478
申请日：2016-05-06
申请人： Baidu USA LLC
发明人： Davy Huang , Jia Feng , Hassan Kianinejad , Yanyan Zhang , Manjiang Zhang
IPC分类号： G06F17/50
CPC分类号： G06F17/5054
摘要： According to one embodiment, a source code is parsed to identify a first routine to perform a first function and a second routine to perform a second function. A control signaling topology is determined between the first routine and the second routine based on one or more statements associated with the first routine and the second routine defined in the source code. A first logic block is allocated describing a first hardware configuration representing the first function of the first routine. A second logic block is allocated describing a second hardware configuration representing the second function of the second routine. A register-transfer level (RTL) netlist is generated based on the first logic block and the second logic block. The second logic block is to perform the second function dependent upon the first function performed by the first logic block based on the control signaling topology.
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9.发明授权公开(公告)号：US11198444B2
公开(公告)日：2021-12-14
申请号：US16510124
申请日：2019-07-12
申请人： Baidu USA LLC
发明人： Tiffany Zhang , Kwan Oh , Manjiang Zhang
摘要： Diagnosing a sensor processing unit of an autonomous driving vehicle is described. An example computer-implemented method can include transmitting an executable image of a sensor processing application from a host system to the sensor processing unit via at least one of a universal asynchronous receiver-transmitter (UART) or an Ethernet connection. The method also includes causing the sensor processing unit to execute and launch the executable image of the sensor processing application in the DRAM from the eMMC storage device. The method also includes transmitting a sequence of predetermined commands to the executed sensor processing application to perform a plurality of sensor data processing operations on sensor data obtained from a plurality of sensors or sensor simulators associated with an autonomous driving vehicle. The method also includes comparing processing results of the sensor processing operations against expected processing results to determine whether the sensor processing application operates properly.
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10.发明授权公开(公告)号：US10816979B2
公开(公告)日：2020-10-27
申请号：US16112370
申请日：2018-08-24
申请人： Baidu USA LLC
发明人： Manjiang Zhang , Xiangtao You , Tiffany Zhang
摘要： A sensor unit used in an ADV includes a sensor interface that can be coupled to cameras mounted on the ADV. The sensor unit further includes a host interface that can be coupled to a host system. The host system is configured to perceive a driving environment surrounding the ADV based on at least image data obtained from the cameras and to plan a path to autonomously drive the ADV. The sensor unit further includes one or more data acquisition modules corresponding to the cameras. Each data acquisition module includes a pixel alignment module and a frame processing module. The pixel alignment module is configured to reformat pixels of image data from an original format associated with the corresponding camera to a predetermined format. The frame processing module is configured to generate an image frame based on the image data and to transmit the image frame to the host system.
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