The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 10, 2019
Filed:
Jan. 13, 2017
Baidu Usa Llc, Sunnyvale, CA (US);
Baidu.com Times Technology (Beijing) Co., Ltd., Beijing, CN;
Qi Luo, Sunnyvale, CA (US);
Fan Zhu, Sunnyvale, CA (US);
Sen Hu, Sunnyvale, CA (US);
Qi Kong, Sunnyvale, CA (US);
Xiang Yu, Sunnyvale, CA (US);
Zhenguang Zhu, Beijing, CN;
Yuchang Pan, Beijing, CN;
Wenli Yang, Beijing, CN;
Guang Yang, San Jose, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
In one embodiment, planning data is received, for example, from a planning module, to drive an autonomous driving vehicle (ADV) from a starting location and a destination location. In response, a series of control commands are generated based on the planning data, where the control commands are to be applied at different points in time from the starting location to the destination location. A cost is calculated by applying a cost function to the control commands, a first road friction to be estimated in a current trip, and a second road friction estimated during a prior trip from the starting location to the destination location. The first road friction of the current trip is estimated using the cost function in view of a prior termination cost of the prior trip, such that the cost reaches minimum.