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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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3.
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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公开(公告)号:US10407076B2
公开(公告)日:2019-09-10
申请号:US15327036
申请日:2017-01-13
发明人: Qi Luo , Fan Zhu , Sen Hu , Qi Kong , Xiang Yu , Zhenguang Zhu , Yuchang Pan , Wenli Yang , Guang Yang
IPC分类号: B60W40/06 , G01C21/34 , G08G1/09 , G05D1/00 , B60W40/068 , G08G1/0968 , B60W50/00
摘要: In one embodiment, planning data is received, for example, from a planning module, to drive an autonomous driving vehicle (ADV) from a starting location and a destination location. In response, a series of control commands are generated based on the planning data, where the control commands are to be applied at different points in time from the starting location to the destination location. A cost is calculated by applying a cost function to the control commands, a first road friction to be estimated in a current trip, and a second road friction estimated during a prior trip from the starting location to the destination location. The first road friction of the current trip is estimated using the cost function in view of a prior termination cost of the prior trip, such that the cost reaches minimum.
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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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6.
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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7.
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:US10534364B2
公开(公告)日:2020-01-14
申请号:US15313523
申请日:2016-11-17
发明人: Fan Zhu , Qi Kong , Xiang Yu , Sen Hu , Qi Luo , Zhenguang Zhu , Yuchang Pan , Wenli Yang , Guang Yang , Jingao Wang
摘要: In one embodiment, an autonomous driving vehicle (ADV) speed following system determines how much and when to apply a throttle or a brake control of an ADV to maneuver the ADV around, or to avoid, obstacles of a planned route. The speed following system calculates a first torque force to accelerate the ADV, a second torque force to counteract frictional forces and wind resistances to maintain a reference speed, and a third torque force to minimize an initial difference and external disturbances thereafter between predefined target speed and actual speed of the ADV over a planned route. The speed following system determines a throttle-brake torque force based on the first, second, and third torque forces and utilizes the throttle-brake torque force to control a subsequent speed 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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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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