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:
Dec. 20, 2022
Filed:
Apr. 10, 2020
Baidu Usa Llc, Sunnyvale, CA (US);
Baidu.com Times Technology (Beijing) Co., Ltd., Beijing, CN;
Dongchun Yao, Sunnyvale, CA (US);
Fan Zhu, Sunnyvale, CA (US);
Leibing Lv, Beijing, CN;
Xin Xu, Beijing, CN;
Ning Yu, Beijing, CN;
BAIDU USA LLC, Sunnyvale, CA (US);
BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD., Beijing, CN;
Abstract
In response to a request to pull over an ADV at a destination point at a side of a lane, a path including a first segment, a second segment and a transition point is planned. The transition point is determined based on at least one of a distance to the destination point or a predetermined distance to a boundary of the side of the lane. The first segment from a start point to the transition point is generated by using a quadratic programming (QP) operation. The second segment from the transition point to the destination is generated based on a shape of the boundary. The ADV is controlled to pull over to the destination point according to the planned path.