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:
Jan. 14, 2020
Filed:
Nov. 17, 2016
Baidu Usa Llc, Sunnyvale, CA (US);
Baidu.com Times Technology (Beijing) Co., Ltd., Beijing, CN;
Fan Zhu, Sunnyvale, CA (US);
Qi Kong, Sunnyvale, CA (US);
Xiang Yu, Sunnyvale, CA (US);
Sen Hu, Sunnyvale, CA (US);
Qi Luo, Sunnyvale, CA (US);
Zhenguang Zhu, Beijing, CN;
Yuchang Pan, Beijing, CN;
Wenli Yang, Beijing, CN;
Guang Yang, San Jose, CA (US);
Jingao Wang, Saratoga, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD., Beijing, CN;
Abstract
In one embodiment, an autonomous driving vehicle (ADV) speed following system determines how much and when to apply a throttle or a brake control of an ADV to maneuver the ADV around, or to avoid, obstacles of a planned route. The speed following system calculates a first torque force to accelerate the ADV, a second torque force to counteract frictional forces and wind resistances to maintain a reference speed, and a third torque force to minimize an initial difference and external disturbances thereafter between predefined target speed and actual speed of the ADV over a planned route. The speed following system determines a throttle-brake torque force based on the first, second, and third torque forces and utilizes the throttle-brake torque force to control a subsequent speed of the ADV.