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1.发明申请公开(公告)号：US20210188308A1
公开(公告)日：2021-06-24
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：US20210188296A1
公开(公告)日：2021-06-24
申请号：US16314440
申请日：2018-12-26
摘要： A calibration table usable in operating an autonomous driving vehicle (ADV) is updated. The operations comprise: determining a first torque value at a first time instant prior to executing a control command; determining a control command based on a speed of the ADV, a desired acceleration, and an associated entry in the calibration table; executing the control command; determining a second torque value at a second time instant subsequent to executing the control command; determining a torque error value as a difference between the first and second torque values; updating the associated entry in the calibration table based at least in part on the torque error value; and generating driving signals based at least in part on the updated calibration table to control operations of the ADV.
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公开(公告)号：US20210179134A1
公开(公告)日：2021-06-17
申请号：US16314339
申请日：2018-12-26
IPC分类号： B60W60/00 , B60W30/12 , G01C21/00 , B60W30/095 , B60W30/09
摘要： According to various embodiments, systems and methods are provided for use by an ADV to nudge incoming objects in a self-reverse lane. In an embodiment, an ADV determines that a self-reverse lane has a predetermined width before entering the self-reverse lane. After entering the self-reverse lane, the ADV can follow a first reference line at the center of the self-reverse lane. In response to detecting an incoming object, the ADV creates an alternative lane in the self-reverse lane by temporarily modifying a high definition map. The ADV subsequently follows a second reference line in the alternative lane to nudge the incoming object. In response to detecting that the incoming object has passed and the self-reverse lane is clear, the ADV can drive back to the center of the self-reverse lane, to continue to follow the first reference line in the self-reverse lane.
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公开(公告)号：US20210163037A1
公开(公告)日：2021-06-03
申请号：US16067556
申请日：2018-04-18
发明人： Fan ZHU , Qi KONG , Yuchang PAN , Feiyi JIANG , Xin XU , Xiaoxin FU , Zhongpu XIA , Chunming ZHAO , Liangliang ZHANG , Weicheng ZHU , Li ZHUANG , Haoyang FAN , Hui JIANG , Jiaming TAO
摘要： In one embodiment, instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.
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公开(公告)号：US20220299648A1
公开(公告)日：2022-09-22
申请号：US16758740
申请日：2020-03-26
发明人： Xiang LIU , Dongchao GAO , Bin GAO , Fan ZHU
IPC分类号： G01S17/931 , G01S17/89 , G01S7/48 , B60W60/00
摘要： A method, apparatus, and system for filtering a point cloud generated by a LIDAR device in an autonomous vehicle is disclosed. A point cloud comprising a plurality of points is generated based on outputs of the LIDAR device. The point cloud is filtered to remove a first set of points in the plurality of points that correspond to noise based on one or more of: point intensity measurements, distances between points, or a combination thereof. Perception data is generated based on the filtered point cloud. Operations of the autonomous vehicle are controlled based on the perception data.
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公开(公告)号：US20210356562A1
公开(公告)日：2021-11-18
申请号：US16771299
申请日：2020-05-15
发明人： Xiang LIU , Shuang ZHANG , Bin GAO , Dongchao GAO , Fan ZHU
IPC分类号： G01S7/48 , G06K9/00 , G06K9/46 , G01S17/42 , G01S17/931
摘要： A method, apparatus, and system for determining whether all extrinsic matrices are accurate is disclosed. A plurality of post-LIDAR fusion point clouds that are based on simultaneous outputs from a plurality of LIDAR devices installed at one ADV are obtained. The obtained plurality of point clouds are filtered to obtain a first set of points comprising all points in the plurality of point clouds that fall within a region of interest. Each point in the first set of points corresponds to one coordinate value on the axis in the up-down direction. A distribution of the first plurality of coordinate values is obtained. A quantity of peaks in the distribution of the first plurality of coordinate values is determined. Whether all extrinsic matrices associated with the plurality of LIDAR devices are accurate is determined based on the quantity of peaks in the distribution of the first plurality of coordinate values.
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公开(公告)号：US20210191393A1
公开(公告)日：2021-06-24
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：US20210188309A1
公开(公告)日：2021-06-24
申请号：US16338461
申请日：2019-03-29
发明人： Fan ZHU , Lin MA , Xin XU , Jingao WANG
IPC分类号： B60W60/00 , B60W40/072 , G01C21/34 , G01C21/00
摘要： In one embodiment, a method for generating a reference line for operating an autonomous driving vehicle includes determining a first ending reference point having a smallest curvature among a plurality of points within a first defined distance along a path, generating a first reference line based on a first initial reference point and the first ending reference point, determining a second ending reference point having a smallest curvature among a plurality of points within a second defined distance along the path, generating a second reference line based on the first and second ending reference points and an end section of the first reference line, connecting the first and second reference lines, and controlling the autonomous driving vehicle along the connected first reference line and the second reference line.
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公开(公告)号：US20210188307A1
公开(公告)日：2021-06-24
申请号：US16314371
申请日：2018-12-26
摘要： In one embodiment, a path for parking is planned in operating an autonomous driving vehicle (ADV). The operations comprises: determining a plurality of sample points; determining a plurality of candidate paths connecting a start point and an end point for parking, each of the candidate paths passing through one of the sample points; determining a cost associated with each of the plurality of candidate paths; determining one or more candidate paths from the plurality of candidate paths that meet a boundary check requirement; selecting as the planned path a candidate path associated with a lowest cost that meets the boundary check requirement; determining a speed profile based on the planned path and an environment of the ADV; and generating driving signals based at least in part on the speed profile to control operations of the ADV to perform parking along the planned path.
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公开(公告)号：US20210191402A1
公开(公告)日：2021-06-24
申请号：US16338462
申请日：2019-03-29
发明人： Fan ZHU , Lin MA , Xin XU , Jingao WANG
IPC分类号： G05D1/02 , B60R16/023
摘要： Based on sensor data obtained from a variety of sensors, a driving environment surrounding an autonomous driving vehicle (ADV) is perceived, including perceiving and identifying one or more obstacles. A trajectory is planned based on the perception data according to a set of rules to drive the ADV navigating through the driving environment. Trajectory data representing the trajectory is generated, where the trajectory data includes information indicating target or expected vehicle states at different points in time along the trajectory. The trajectory data is then transmitted in a sequence or a stream of one or more controller area network (CAN) messages to an electronic control unit (ECU) of the ADV over a CAN bus. The ECU is configured to generate and issue one or more control commands (e.g., throttle, brake, steering commands) based on the trajectory data to drive the ADV according to the trajectory.
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