Baidu USA LLC

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

Apollo Intelligent Driving Technology (beijing) Co., Ltd.

Beijing Baidu Netcom Science and Technology Co., Ltd.

Xiaoxin Fu

Zhenguang Zhu

Fan Zhu

Yuchang Pan

Qi Kong

Zhongpu Xia

Hongye Li

Chunming Zhao

Guang Yu Yang

Jingao Wang

Qi Luo

Xiang Yu

Sen Hu

Zhiyuan Chen

Jiarui He

Dayang Hao

Lin Ma

Liangliang Zhang

Jiaming Tao

Xin Xu

Hui Jiang

Haoyang Fan

Weicheng Zhu

Li Zhuang

Feiyi Jiang

Xujian Li

Guang Yang

Embodiments of the present disclosure provide a bend driving control method for an autonomous vehicle, a device and a storage medium, and relate to a field of perception and autonomous driving technologies. The method includes: obtaining an occupancy width of an autonomous vehicle on a target bend when the autonomous vehicle drives on the target bend; detecting location information of an obstacle on the target bend; and controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle.

Bend driving control method for autonomous vehicle, device, and medium

A blacklist-based re-navigation method and apparatus, and a computer readable storage medium are provided. The blacklist-based re-navigation method includes: detecting whether an obstacle is in a front area of a driverless vehicle in a driving process of the driverless vehicle; if an obstacle is detected in the front area, generating a blacklist associated with the obstacle, wherein the blacklist includes a road on which the obstacle is located; and reporting the blacklist to a navigation system, wherein the navigation system re-plans a navigation route according to the road on which the obstacle is located.

Blacklist-based re-navigation method and apparatus, and storage medium

A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.

Method and apparatus for planning travelling path, and vehicle

A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

Method and apparatus for processing driving reference line, and vehicle

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.

Map-less and localization-less lane following method for autonomous driving of autonomous driving vehicles on highway

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.

Deceleration curb-based direction checking and lane keeping system for autonomous driving vehicles

In one embodiment, when an ADV is driving on a road segment, a driving parameter is recorded in response to a first control command. A difference between the first driving parameter and a target driving parameter corresponding to the first control command is determined. In response to determining that the difference exceeds a predetermined threshold, a second control command is issued to compensate the difference and cause the ADV to drive with a second driving parameter closer to the target driving parameter. A slope status of the road segment is derived based on at least the second control command. Map data of a map corresponding to the road segment of the road is updated based on the derived slope status. The updated map can be utilized to generate and issue proper control commands in view of the slope status of the road when the ADV drives on the same road subsequently.

Method and system for updating maps based on control feedbacks of autonomous driving vehicles

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.

Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles

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Beijing, China

Xiaoxin Fu