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    AUTONOMOUS DRIVING VEHICLE THREE-POINT TURN
    3.
    发明申请
    AUTONOMOUS DRIVING VEHICLE THREE-POINT TURN 有权

    公开(公告)号：US20210197865A1

    公开(公告)日：2021-07-01

    申请号：US16727799

    申请日：2019-12-26

    申请人： Baidu USA LLC

    发明人： Jinyun ZHOU ,  Shu JIANG ,  Jiaming TAO ,  Qi LUO ,  Jinghao MIAO ,  Jiangtao HU ,  Jiaxuan XU ,  Yu WANG

    IPC分类号： B60W60/00 ,  B60W30/18 ,  B60W30/12 ,  G01C21/36

    摘要： In one embodiment, an autonomous driving vehicle (ADV) operates in an on-lane mode, where the ADV follows a path along a vehicle lane. In response to determining that the ADV is approaching a dead-end, the ADV switches to an open-space mode. While in the open-space mode, the ADV conducts a three-point turn using a series of steering and throttle commands to generate forward and reverse movements until the ADV is within a) a threshold heading, and b) a threshold distance, relative to the vehicle lane. The ADV can then return to the on-lane mode and resume along the vehicle lane away from the dead-end.

    LOW-SPEED, BACKWARD DRIVING VEHICLE CONTROLLER DESIGN
    4.
    发明申请
    LOW-SPEED, BACKWARD DRIVING VEHICLE CONTROLLER DESIGN 有权

    公开(公告)号：US20210139038A1

    公开(公告)日：2021-05-13

    申请号：US16682445

    申请日：2019-11-13

    申请人： Baidu USA LLC

    发明人： Yu WANG ,  Qi LUO ,  Shu JIANG ,  Jinghao MIAO ,  Jiangtao HU ,  Jingao WANG ,  Jinyun ZHOU ,  Runxin HE ,  Jiaxuan XU

    IPC分类号： B60W50/00 ,  G05D1/00 ,  B60W30/18

    摘要： In one embodiment, a method of generating control effort to control an autonomous driving vehicle (ADV) includes determining a gear position (forward or reverse) in which the ADV is driving and selecting a driving model and a predictive model based upon the gear position. In a forward gear, the driving model is a dynamic model, such as a “bicycle model,” and the predictive model is a look-ahead model. In a reverse gear, the driving model is a hybrid dynamic and kinematic model and the predictive model is a look-back model. A current and predicted lateral error and heading error are determined using the driving model and predictive model, respectively A linear quadratic regulator (LQR) uses the current and predicted lateral error and heading errors, to determine a first control effort, and an augmented control logic determines a second, additional, control effort, to determine a final control effort that is output to a control module of the ADV to drive the ADV.

    LEARNING BASED CONTROLLER FOR AUTONOMOUS DRIVING
    5.
    发明申请
    LEARNING BASED CONTROLLER FOR AUTONOMOUS DRIVING 有权

    公开(公告)号：US20210291862A1

    公开(公告)日：2021-09-23

    申请号：US16823141

    申请日：2020-03-18

    申请人： Baidu USA LLC

    发明人： Shu JIANG ,  Qi LUO ,  Jinghao MIAO ,  Jiangtao HU ,  Yu WANG ,  Jinyun ZHOU ,  Jiaming TAO ,  Kecheng XU

    IPC分类号： B60W60/00

    摘要： In one embodiment, a control command is generated with an MPC controller, the MPC controller including a cost function with weights associated with cost terms of the cost function. The control command is applied to a dynamic model of an autonomous driving vehicle (ADV) to simulate behavior of the ADV. One or more of the weights are based on evaluation of the dynamic model in response to the control command, resulting in an adjusted cost function of the MPC controller. Another control command is generated with the MPC controller having the adjusted cost function. This second control command can be used to effect movement of the ADV.

    AUTONOMOUS VEHICLE ACTUATION DYNAMICS AND LATENCY IDENTIFICATION
    6.
    发明申请
    AUTONOMOUS VEHICLE ACTUATION DYNAMICS AND LATENCY IDENTIFICATION 有权

    公开(公告)号：US20210253118A1

    公开(公告)日：2021-08-19

    申请号：US16790036

    申请日：2020-02-13

    申请人： Baidu USA LLC

    发明人： Yu WANG ,  Qi LUO ,  Shu JIANG ,  Jinghao MIAO ,  Jiangtao HU ,  Jingao WANG ,  Jinyun ZHOU ,  Jiaxuan XU

    IPC分类号： B60W50/08 ,  B60W50/035

    摘要： Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.

    DATA COLLECTION AUTOMATION SYSTEM
    8.
    发明申请
    DATA COLLECTION AUTOMATION SYSTEM 审中-公开

    公开(公告)号：US20200342693A1

    公开(公告)日：2020-10-29

    申请号：US16397633

    申请日：2019-04-29

    申请人： Baidu USA LLC

    发明人： Shu JIANG ,  Qi LUO ,  Jinghao MIAO ,  Jiangtao HU ,  Weiman LIN ,  Jiaxuan XU ,  Yu WANG ,  Jinyun ZHOU ,  Runxin HE

    IPC分类号： G07C5/08 ,  G06N20/00 ,  G05D1/00

    摘要： An autonomous driving vehicle (ADV) receives instructions for a human test driver to drive the ADV in manual mode and to collect a specified amount of driving data for one or more specified driving categories. As the user drivers the ADV in manual mode, driving data corresponding to the one or more driving categories is logged. A user interface of the ADV displays the one or more driving categories that the human driver is instructed collect data upon, and a progress indicator for each of these categories as the human driving progresses. The driving data is uploaded to a server for machine learning. If the server machine learning achieves a threshold grading amount of the uploaded data to variables of a dynamic self-driving model, then the server generates an ADV self-driving model, and distributes the model to one or more ADVs that are navigated in the self-driving mode.

    EXTENDED MODEL REFERENCE ADAPTIVE CONTROL ALGORITHM FOR THE VEHICLE ACTUATION TIME-LATENCY
    9.
    发明申请
    EXTENDED MODEL REFERENCE ADAPTIVE CONTROL ALGORITHM FOR THE VEHICLE ACTUATION TIME-LATENCY 有权

    公开(公告)号：US20210323564A1

    公开(公告)日：2021-10-21

    申请号：US16854718

    申请日：2020-04-21

    申请人： Baidu USA LLC

    发明人： Yu WANG ,  Qi LUO ,  Shu JIANG ,  Jinghao MIAO ,  Jiangtao HU ,  Jingao WANG ,  Jinyun ZHOU ,  Jiaxuan XU

    IPC分类号： B60W50/04 ,  B60W60/00 ,  B60W10/18 ,  B60W10/20 ,  B60W50/06 ,  G05D1/02

    摘要： Systems and methods are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle (ADV) and increasing control system bandwidth by accounting for time-latency in a control subsystem actuation system. A control input is received from an ADV's autonomous driving system. The control input is translated into a control command of the control subsystem of the ADV. A reference actuation output and a predicted actuation output are generated corresponding to a by-wire (“real”) actuation action for the control subsystem. A control error is determined between the reference actuation action and the by-wire actuation action. A predicted control error is determined between the predicted actuation action and the between the by-wire actuation action. Adaptive gains are determined and applied to the by-wire actuation action to generate a second by-wire actuation action.