Baidu USA LLC

Nanometrics Inc.

Baidu.com Times Technology (beijing) Co. Ltd.

Jiangtao Hu

Yifei Jiang

Jiaming Tao

Dong Li

Liangliang Zhang

Jinghao Miao

Qi Luo

Shu Jiang

Jinyun Zhou

Yu Wang

Jiaxuan Xu

Jingao Wang

Kecheng Xu

Hongyi Sun

Runxin He

Guang Yu Yang

Liyun Li

Fan Zhu

Xiangquan Xiao

Yajia Zhang

Yu Long Cao

Weiman Lin

Jiacheng Pan

Haoyang Fan

Qi Kong

Shiyu Song

Weicheng Zhu

Zhuan Liu

Zejun Lin

Wesley Reynolds

Feng Quan Liu

Wei Wei Wang

Siyang Yu

Longtao Lin

Szu Hao Wu

Chao Ma

Li Zhuang

Shuang Wu

Lei Wang

Kuang Hu

Christopher W Blaufus

Yudong Hao

Wei Wang

Szu-Hao Wu

Jonathan M Madsen

Yiqun Fu

Li Gao

Nicholas James Keller

Bingqing Li

Sangbong Lee

Chandra Saravanan

Zongbao Feng

Shuo Huang

Wei-Man Lin

Li Dong

Ang Li

Yu Cao

Shengxiang Liu

Kairui Yang

According to various embodiments, the disclosure discloses systems, methods and media for formulating training datasets for learning-based components in an autonomous driving vehicle (ADV). In an embodiment, an exemplary method includes allocating training datasets for training a learning-based model in the ADV, each training dataset being allocated to one of multiple predefined driving scenarios; determining a weight of each training dataset out of the training datasets; and optimizing the weight of each training dataset in one or more iterations according to a predetermined algorithm until a performance of the learning-based model reaches a predetermined threshold. The predetermined algorithm is one of a random search algorithm, a grid search algorithm, or a Bayesian algorithm.

Scenario-based training data weight tuning for autonomous driving

The present disclosure provides methods and techniques for evaluating and improving algorithms for autonomous driving planning and control (PNC), using one or more metrics (e.g., similarity scores) computed based on expert demonstrations. For example, the one or more metrics allow for improving PNC based on human, as opposed to or in addition to optimizing certain oversimplified properties, such as the least distance or time, as an objective. When driving in certain scenarios, such as taking a turn, people may drive in a distributed probability pattern instead of in a uniform line (e.g., different speeds and different curvatures at the same corner). As such, there can be more than one 'correct' control trajectory for an autonomous vehicle to perform in the same turn. Safety, comfort, speeds, and other criteria may lead to different preferences and judgment as to how well the controlled trajectory has been computed.

Distributional expert demonstrations for autonomous driving

In one embodiment, an emergency vehicle detection system can be provided in the ADV travelling on a road to detect the presence of an emergency vehicle in a surrounding environment of the ADV using both audio data and visual data. The emergency vehicle detection system can use a trained neutral network to independently generate a detection result from the audio data, and use another trained network to independently generate another detection result from the visual data. The emergency vehicle detection system can fuse the two detection results to determine the position and moving direction of the emergency vehicle. The ADV can take appropriate actions in response to the position and moving direction of the emergency vehicle.

Emergency vehicle audio and visual detection post fusion

According to some embodiments, systems, methods and media for dynamically generating scenario parameters for an autonomous driving vehicles (ADV) are described. In one embodiment, when an ADV enters a driving scenario, the ADV can invoke a map-based scenario checker to determine the type of scenario, and invokes a corresponding neural network model to generate a set of parameters for the scenario based on real-time environmental conditions (e.g., traffics) and vehicle status information (e.g., speed). The set of scenario parameters can be a set of extra constraints for configuring the ADV to drive in a driving mode corresponding to the scenario.

Dynamic scenario parameters for an autonomous driving vehicle

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.

Control and planning with localization uncertainty

An obstacle is detected based on sensor data obtained from a plurality of sensors of the ADV. A distribution of a plurality of positions of the obstacle at a point of time may be predicted. A range of positions of the plurality of positions of the obstacle may be determined based on a confidence level of the range. A modified shape with a modified length of the obstacle may be determined based on the range of positions of the obstacle. A trajectory of the ADV based on the modified shape with the modified length of the obstacle may be planned. The ADV may be controlled to drive according to the planned trajectory to drive safely to avoid a collision with the obstacle.

Planning under prediction with confidence region for an autonomous driving vehicle

According to some embodiments, described herein is a method and a system for guaranteeing safety at a control level of an ADV when at least a portion of a planned path generated by a planning module of the ADV is uncertain due to traffics and/or road condition changes. The planning module, when generating a path, also generate a confidence level of each segment of the path based on one or more of perception data, map information, or traffic rules. The confidence levels are decreasing further away from the ADV. When the control module of the ADV obtains the path and the associated confidence levels, the control module issue control commands to track only one or two segments whose confidence levels exceeds a threshold hold, and issue default control commands for the rest of the path.

Safety guaranteed control when planning with uncertainty

A sensor aggregation framework for autonomous driving vehicles is disclosed. In one embodiment, sensor data is collected from one or more sensors mounted on an autonomous driving vehicle (ADV) while the ADV is moving within a region of interest (ROI) that includes a number of obstacles. The sensor data includes obstacle information of the obstacles and vehicle data of the ADV. Each of the vehicle data is timestamped with a current time at which the vehicle data is captured to generate a number of timestamps that correspond to the vehicle data. The obstacle information, the vehicle data, and the corresponding timestamps are aggregated into training data. The training data is used to train a set of parameters that is subsequently utilized to predict at least in part future obstacle behaviors and vehicle movement of the ADV.

Sensor aggregation framework for autonomous driving vehicles

In one embodiment, a process is performed during controlling Autonomous Driving Vehicle (ADV). A confidence level associated with a sensed obstacle is determined. If the confidence level is below a confidence threshold, and a distance between the ADV and a potential point of contact with the sensed obstacle is below a distance threshold, then performance of a driving decision is delayed. Otherwise, the driving decision is performed to reduce risk of contact with the sensed obstacle.

Delay decision making for autonomous driving vehicles in response to obstacles based on confidence level and distance

An obstacle state evolution of a spatial position of a moving obstacle over a period of time is determined. A lane-obstacle relation evolution of the moving obstacle with each of one or more lanes near the moving obstacle over the period of time is further determined. An intended movement of the moving obstacle is predicted based on the obstacle state evolution and the lane-obstacle evolution. Thereafter, a trajectory of the ADV is planned to control the ADV to avoid a collision with the moving obstacle based on the predicted intended movement of the moving obstacle. The above process is iteratively performed for each of the moving obstacles detected within a predetermined proximity of the ADV.

Lane-attention: predicting vehicles' moving trajectories by learning their attention over lanes

A method of navigating an autonomous driving vehicle (ADV) includes determining a target function for an open space model based on one or more obstacles and map information within a proximity of the ADV, then iteratively performing first and second quadratic programming (QP) optimizations on the target function. Then, generating a second trajectory based on results of the first and second QP optimizations to control the ADV autonomously using the second trajectory. The first QP optimization is based on fixing a first set of variables of the target function. The second QP optimization is based on maximizing a sum of the distances from the ADV to each of the obstacles over a plurality of points of the first trajectory, and minimizing a difference between a target end-state of the ADV and a determined final state of the ADV using the first trajectory.

End dynamics and constraints relaxation algorithm on optimizing an open space trajectory

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.

Learning based controller for autonomous driving

A 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.

Dynamic model with actuation latency

In one embodiment, control of an autonomous driving vehicle (ADV) includes determining a current scenario of the ADV. Based on the scenario, a control algorithm is selected among a plurality of distinct control algorithms as the active control algorithm. One or more control commands are generated using the active control algorithm, based one or more target inputs. The control commands are applied to effect movement of the ADV.

Scenario based control of autonomous driving vehicle

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.

Automatic parameter tuning framework for controllers used in autonomous driving vehicles

Growing community of inventors

Sunnyvale, CA, United States of America

Jiangtao Hu