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:
Nov. 14, 2023
Filed:
Mar. 18, 2020
Baidu Usa Llc, Sunnyvale, CA (US);
Shu Jiang, Sunnyvale, CA (US);
Qi Luo, Sunnyvale, CA (US);
Jinghao Miao, Sunnyvale, CA (US);
Jiangtao Hu, Sunnyvale, CA (US);
Yu Wang, Sunnyvale, CA (US);
Jinyun Zhou, Sunnyvale, CA (US);
Jiaming Tao, Sunnyvale, CA (US);
Kecheng Xu, Sunnyvale, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
In one embodiment, a control command is generated with an MPC controller, the MPC controller including a cost function with weights associated with cost terms of the cost function. The control command is applied to a dynamic model of an autonomous driving vehicle (ADV) to simulate behavior of the ADV. One or more of the weights are based on evaluation of the dynamic model in response to the control command, resulting in an adjusted cost function of the MPC controller. Another control command is generated with the MPC controller having the adjusted cost function. This second control command can be used to effect movement of the ADV.