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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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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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4.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：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：US10569651B2
公开(公告)日：2020-02-25
申请号：US15595529
申请日：2017-05-15
申请人： Baidu USA LLC
发明人： Fan Zhu , Qi Kong , Qi Luo , Xiang Yu , Sen Hu , Li Zhuang , Liangliang Zhang , Weicheng Zhu , Haoyang Fan , Yajia Zhang , Guang Yang , Jingao Wang
摘要： When generating a control command of an autonomous driving vehicle (ADV), a pitch status and/or a roll status of the road is determined. The control command is adjusted based on the pitch status and the roll status. For example, when an ADV is driving on an uphill or downhill road, a pitch status of the road is determined and a speed control command will be generated based on the pitch status of the road, such that the ADV have a similar acceleration rate as of driving on a flat road. Similarly, when the ADV is driving on a road that is tilted or rolled left or right, a roll status of the road is determined and a steering control command will be generated in view of the roll status of the road, such that the ADV have a similar heading direction as of driving on a flat road.
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公开(公告)号：US10272924B2
公开(公告)日：2019-04-30
申请号：US15383843
申请日：2016-12-19
申请人： Baidu USA LLC
发明人： Qi Luo , Qi Kong , Fan Zhu , Sen Hu , Xiang Yu , Guang Yang , Jingao Wang
摘要： Described is a system and method that provides the ability for an autonomous driving vehicle (ADV) to determine (or estimate) one or more control characteristics for the ADV. In order to determine these control characteristics, the system may perform one or more driving maneuvers such as an acceleration or deceleration maneuver, and a constant velocity maneuver. By performing these maneuvers using various known forces, the system may then perform various calculations to obtain one or more unknown characteristics. For example, the system may determine as estimated mass of the ADV, and as a result, adjust (or tune) various controls of the ADV based on the estimated mass.
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9.发明授权公开(公告)号：US10507813B2
公开(公告)日：2019-12-17
申请号：US15592101
申请日：2017-05-10
申请人： Baidu USA LLC
发明人： Fan Zhu , Qi Kong , Qi Luo , Xiang Yu , Sen Hu , Guang Yang , Jingao Wang
IPC分类号： B60T8/58 , B60T7/12 , G05D1/00 , B60Q1/44 , B60T7/22 , B60T8/00 , B60T8/17 , B60T17/22 , G01S17/00 , G01S13/93
摘要： In one embodiment, it is determined that an ADV is about to decelerate based on perception of a driving environment surrounding the ADV. In addition, if there is another vehicle that is following the ADV, a distance between the ADV and the following vehicle, as well as the speed of the following vehicle, is determined. A deceleration rate that is required for the following vehicle to avoid a collision with the ADV is determined based on the distance between the ADV and the following vehicle and the speed of the following vehicle. If the deceleration rate is greater than a predetermined threshold, a brake light and an emergency light of the ADV are turned on to warn the following vehicle that the ADV is about to rapidly decelerate as it is treated as an emergency situation.
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公开(公告)号：US10474157B2
公开(公告)日：2019-11-12
申请号：US15615378
申请日：2017-06-06
申请人： Baidu USA LLC
发明人： Xiang Yu , Qi Kong , Qi Luo , Fan Zhu , Sen Hu , Guang Yang , Jingao Wang
摘要： State of an autonomous driving vehicle (ADV) is measured and stored for a location and speed of the ADV. Later, the state of the ADV is measured for the location and speed corresponding to a previously stored state of the ADV at the same location and speed. Fields of the measured stored states of the ADV are compared. If one or more differences between the measured and stored ADV states exceeds a threshold, then one or more control input parameters of the ADV is adjusted, such as steering, braking, or throttle. Differences may be attributable to road conditions or to state of servicing of the ADV. Differences between measured and stored states of the ADV can be passed to a service module. Service module can access crowd sourced data to determine whether one or more control input parameters for a driving state of one or more ADVs should be updated.
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