-
公开(公告)号：US20220315046A1
公开(公告)日：2022-10-06
申请号：US16627257
申请日：2019-12-20
发明人： Shu JIANG , Qi LUO , Jinghao MIAO , Jiangtao HU , Yu WANG , Jiaxuan XU , Jinyun ZHOU , Kuang HU , Chao MA
摘要： In one embodiment, simulation of an autonomous driving vehicle (ADV) includes capturing first data that includes a control command output by an autonomous vehicle controller of the ADV, and capturing second data that includes the control command being implemented at a control unit of the ADV. The control command, for example, a steering command, a braking command, or a throttle command, is implemented by the ADV to affect movement of the ADV. A latency model is determined based on comparing the first data with the second data, where the latency model defines time delay and/or amplitude difference between the first data and the second data. The latency model is applied in a virtual driving environment.
-
公开(公告)号：US20210229678A1
公开(公告)日：2021-07-29
申请号：US16643154
申请日：2020-01-23
发明人： Yu WANG , Qi LUO , Yu CAO , Feng Zongbao , Lin LONGTAO , Xiao XIANGQUAN , Jinghao MIAO , Jingtao HU , Jingao WANG , Shu JIANG , Jinyun ZHOU , Jiaxuan XU
IPC分类号： B60W40/105 , G06F16/23 , G06F16/9035
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.
-
公开(公告)号：US20230065284A1
公开(公告)日：2023-03-02
申请号：US17446652
申请日：2021-09-01
申请人： Baidu USA LLC
发明人： Shu JIANG , Weiman LIN , Yu CAO , Yu WANG , Qi LUO , Jiangtao HU , Jinghao MIAO
IPC分类号： B60W30/09 , B60W60/00 , B60W30/095
摘要： Systems, methods, and media for factoring localization uncertainty of an ADV into its planning and control process to increase the safety of the ADV. The uncertainty of the localization can be caused by sensor inaccuracy, map matching algorithm inaccuracy, and/or speed uncertainty. The localization uncertainty can have negative impact on trajectory planning and vehicle control. Embodiments described herein are intended to increase the safety of the ADV by considering localization uncertainty in trajectory planning and vehicle control. An exemplary method includes determining a confidence region for an ADV that is automatically driving on a road segment based on localization uncertainty and speed uncertainty; determining that an object is within the confidence region, and a probability of collision with the ADV based on a distance of the object to the ADV; and planning a trajectory based on the probability of collision, and controlling the ADV based on the probability of collision.
-
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.
-
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
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.
-
公开(公告)号：US20230046149A1
公开(公告)日：2023-02-16
申请号：US17398359
申请日：2021-08-10
申请人： Baidu USA LLC
发明人： Shu JIANG , Qi LUO , Yu CAO , Weiman LIN , Yu WANG , Hongyi SUN
摘要： According to various embodiments, systems, methods, and media for evaluating an open space planner in an autonomous vehicle are disclosed. In one embodiment, an exemplary method includes receiving, at a profiling application, a record file recorded by the ADV while driving in an open space using the open space planner, and a configuration file specifying parameters of the ADV; extracting planning messages and prediction messages from the record file, each extracted message being associated with the open space planner. The method further includes generating features from the planning message and the prediction messages in view of the specified parameters of the ADV; and calculating statistical metrics from the features. The statistical metrics are then provided to an automatic tuning framework for tuning the open space planner.
-
公开(公告)号：US20220097728A1
公开(公告)日：2022-03-31
申请号：US17039685
申请日：2020-09-30
申请人： Baidu USA LLC
发明人： Weiman LIN , Yu CAO , Yu WANG , Qi LUO , Shu JIANG , Xiangquan XIAO , Longtao LIN , Jinghao MIAO , Jiangtao HU
摘要： Systems and methods are disclosed for optimizing values of a set of tunable parameters of an autonomous driving vehicle (ADV). The controllers can be a linear quadratic regular, a “bicycle model,” a model-reference adaptive controller (MRAC) that reduces actuation latency in control subsystems such as steering, braking, and throttle, or other controller (“controllers”). An optimizer selects a set tunable parameters for the controllers. A task distribution system pairs each set of parameters with each of a plurality of simulated driving scenarios, and dispatches a task to the simulator to perform the simulation with the set of parameters. Each simulation is scored. A weighted score is generated from the simulation. The optimizer uses the weighted score as a target objective for a next iteration of the optimizer, for a fixed number of iterations. A physical real-world ADV is navigated using the optimized set of parameters for the controllers in the ADV.
-
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
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.
-
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
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.
-
公开(公告)号：US20230067822A1
公开(公告)日：2023-03-02
申请号：US17446644
申请日：2021-09-01
申请人： Baidu USA LLC
发明人： Shu JIANG , Weiman LIN , Yu CAO , Yu WANG , Kecheng XU , Hongyi SUN , Jiaming TAO , Qi LUO , Jiangtao HU , Jinghao MIAO
摘要： In one embodiment, an exemplary method includes receiving, at a simulation platform, a record file recorded by a manually-driving ADV on a road segment, the simulation platform including a first encoder, a second encoder, and a performance evaluator; simulating automatic driving operations of a dynamic model of the ADV on the road segment based on the record file, the dynamic model including an autonomous driving module to be evaluated. The method further includes: for each trajectory generated by the autonomous driving module during the simulation: extracting a corresponding trajectory associated with the manually-driving ADV from the record file, encoding the trajectory into a first semantic map and the corresponding trajectory into a second semantic map, and generating a similarity score based on the first semantic map and the second semantic map. The method also includes generating an overall performance score based on each similarity score.
-
-
-
-
-
-
-
-
-
搜索结果
16 条记录 (耗时 0.024 秒)
