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:
Mar. 15, 2022
Filed:
Sep. 24, 2019
Baidu Usa Llc, Sunnyvale, CA (US);
Yajia Zhang, Sunnyvale, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
In one embodiment, a method of generating a path for an autonomous driving vehicle (ADV) is disclosed. The method includes obtaining vehicle configuration of the ADV. The vehicle configuration includes a longitudinal state of the ADV and a lateral state of the ADV relative to a discretized point along a reference line. The method further includes estimating one or more boundaries for the lateral state of the ADV with respect to the longitudinal state of the ADV. The estimation of the boundaries includes obtaining vehicle parameters and sensor data of the ADV, using a vehicle kinematic model to estimate the boundaries based on the vehicle parameters and the sensor data, and outputting the estimated boundaries. The method further includes generating an optimal path to control the ADV based on the vehicle configuration and the estimated boundaries.