Patents by Inventor Jiaming Tao

Jiaming Tao has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11520347
    Abstract: According to various embodiments, systems and methods described in the disclosure combine mapped features with point cloud features to improve object detection precision of an autonomous driving vehicle (ADV). The map features and the point cloud features can be extracted from a perception area of the ADV within a particular angle view at each driving cycle based on a position of the ADV. The map features and the point cloud features can be concatenated and provided to a neutral network for object detections.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: December 6, 2022
    Assignee: BAIDU USA LLC
    Inventors: Liangliang Zhang, Hongyi Sun, Li Zhuang, Jiangtao Hu, Dong Li, Jiaming Tao
  • Patent number: 11520335
    Abstract: An ADV may determine whether there is preexisting map data for an environment or geographical area/location where the ADV is located/travelling. If there is no preexisting data, the ADV may generate map data based on sensor data obtained from one or more sensors of the ADV. The ADV may determine a path for the ADV based on the generated map data. If there is preexisting map data, the ADV may determine a path for the ADV based on the preexisting map data.
    Type: Grant
    Filed: April 12, 2018
    Date of Patent: December 6, 2022
    Assignee: BAIDU USA LLC
    Inventors: Dong Li, Yifei Jiang, Liangliang Zhang, Jiaming Tao, Qi Luo, Jiangtao Hu
  • Patent number: 11427211
    Abstract: According to some embodiments, described herein is a system and method for handling sensor failures in autonomous driving vehicles (ADV) that is navigating in a world coordination as an absolute coordination system. When the ADV encounters a sensor failure, but still has at least one camera working properly, the sensor failure handling system can switch the ADV from navigating in the world coordination to a local coordination, in which the ADV relies camera-based obstacle detection and lane mark detection to drive safely until human dis-engagement or until the ADV is parked along a road side.
    Type: Grant
    Filed: June 18, 2018
    Date of Patent: August 30, 2022
    Assignee: BAIDU USA LLC
    Inventors: Jiangtao Hu, Yifei Jiang, Dong Li, Liangliang Zhang, Jiaming Tao, Qi Luo, Xiangquan Xiao
  • Publication number: 20220221270
    Abstract: A calibration method for fringe projection systems based on plane mirrors. Firstly, two mirrors are placed behind the tested object. Through the reflection of mirrors, the camera can image the measured object from the front and other two perspectives, so as to obtain 360-degree two-dimensional information of the measured object. The projector projects three sets of phase-shifting fringe patterns with frequencies of 1, 8, and 64. The camera captures the fringe image to obtain an absolute phase map with a frequency of 64 by using the phase-shifting method and the temporal phase unwrapping algorithm. By using the calibration parameters between the projector and the camera, the absolute phase map can be converted into three-dimensional information of the measured object. Then, the mirror calibration is realized by capturing a set of 3D feature point pairs, so that the 3D information from different perspectives is transformed into a unified world coordinate system.
    Type: Application
    Filed: August 7, 2020
    Publication date: July 14, 2022
    Applicant: Nanjing University of Science and Technology
    Inventors: Chao Zuo, Wei Yin, Qian Chen, Shijie Feng, Jiasong Sun, Tianyang Tao, Yan Hu, Liang Zhang, Jiaming Qian
  • Patent number: 11377119
    Abstract: In one embodiment, a lateral drifting error is determined based on at least a current location of an ADV. The lateral drifting error is segmented into a first drifting error and a second drifting error using a predetermined segmentation algorithm. A planning module plans a path or trajectory for a current driving cycle (e.g., planning cycle) to drive the ADV from the current location for a predetermined period of time. The planning module performs a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory based on the first drifting error to generate a modified trajectory. A control module controls the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.
    Type: Grant
    Filed: May 18, 2018
    Date of Patent: July 5, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Xin Xu, Qi Kong, Yuchang Pan, Feiyi Jiang, Liangliang Zhang, Jiaming Tao, Haoyang Fan, Hui Jiang
  • Patent number: 11378956
    Abstract: A perception module is configured to perceive a driving environment surrounding an autonomous driving vehicle (ADV) based on sensor data, and to generate perception information using various perception models or methods. The perception information describes the perceived driving environment. Based on the perception information, a planning module is configured to plan a trajectory representing a route or a path for a current planning cycle. The ADV is then controlled and driven based on the trajectory. In addition, the planning module determines a critical region (also referred to as a critical area) surrounding the ADV based on the trajectory in view of a current location or position of the ADV. The metadata describing the critical region is transmitted to the perception module via an application programming interface (API) to allow the perception module to generate perception information for a next planning cycle in view of the critical region.
    Type: Grant
    Filed: April 3, 2018
    Date of Patent: July 5, 2022
    Assignee: BAIDU USA LLC
    Inventors: Liangliang Zhang, Dong Li, Jiangtao Hu, Jiaming Tao, Yifei Jiang
  • Patent number: 11340094
    Abstract: A server may determine whether traffic control devices in an environment have changed, based on one or more report messages and sensor data. If the traffic control devices in an environment have changed, the server may generate updated map data and transmit the updated map data to an autonomous driving vehicle (ADV).
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: May 24, 2022
    Assignee: BAIDU USA LLC
    Inventors: Yifei Jiang, Liangliang Zhang, Jiaming Tao, Jiangtao Hu, Dong Li
  • Patent number: 11328219
    Abstract: System and method for training a machine learning model are disclosed. In one embodiment, for each of the driving scenarios, responsive to sensor data from one or more sensors of a vehicle and the driving scenario, driving statistics and environment data of the vehicle are collected while the vehicle is driven by a human driver in accordance with the driving scenario. Upon completion of the driving scenario, the driver is requested to select a label for the completed driving scenario and the selected label is stored responsive to the driver selection. Features are extracted from the driving statistics and the environment data based on predetermined criteria. The extracted features include some of the driving statistics and some of the environment data collected at the different points in time during the driving scenario.
    Type: Grant
    Filed: April 12, 2018
    Date of Patent: May 10, 2022
    Assignee: BAIDU USA LLC
    Inventors: Liangliang Zhang, Siyang Yu, Dong Li, Jiangtao Hu, Jiaming Tao, Yifei Jiang
  • Patent number: 11300955
    Abstract: In one embodiment, a set of predetermined driving parameters is determined from a set of driving statistics data collected from a number of vehicles, which may be driven by human drivers. For each pair of the predetermined driving parameters, a distribution of the pair of driving parameters is plotted based on their relationship on a two-dimensional (2D) distribution space. The 2D distribution space is partitioned into a number of grid cells, each grid cell representing a particular pair of driving parameters. For each of the grid cells, a probability is calculated that the pair of driving parameter likely falls in the grid cell. A grid table is generated corresponding to the pair of driving parameters. The grid table can be utilized during the autonomous driving at real-time or during simulation to determine a ride stability of an autonomous driving vehicle (ADV) in view of the pair of driving parameters.
    Type: Grant
    Filed: December 12, 2019
    Date of Patent: April 12, 2022
    Assignee: BAIDU USA LLC
    Inventors: Yifei Jiang, Jinyun Zhou, Jiacheng Pan, Jiaxuan Xu, Hongyi Sun, Jiaming Tao, Shu Jiang, Jinghao Miao, Jiangtao Hu
  • Publication number: 20220081000
    Abstract: In one embodiment, a system/method generates a driving trajectory for an autonomous driving vehicle (ADV). The system perceives an environment of an autonomous driving vehicle (ADV). The system determines one or more bounding conditions based on the perceived environment. The system generates a first trajectory using a neural network model, wherein the neural network model is trained to generate a driving trajectory. The system evaluates/determines if the first trajectory satisfies the one or more bounding conditions. If the first trajectory satisfies the one or more bounding conditions, the system controls the ADV autonomously according to the first trajectory. Otherwise, the system controls the ADV autonomously according to a second trajectory, where the second trajectory is generated based on an objective function, where the objective function is determined based on at least the one or more bounding conditions.
    Type: Application
    Filed: September 15, 2020
    Publication date: March 17, 2022
    Inventors: YIFEI JIANG, JINYUN ZHOU, JIAMING TAO, SHU JIANG, JIANGTAO HU, JINGHAO MIAO, SHIYU SONG
  • Patent number: 11269352
    Abstract: In one embodiment, a system monitors states of an autonomous driving vehicle (ADV) using a number of sensors mounted on the ADV. The system perceives a driving environment surrounding the ADV using at least a portion of the sensors. The system analyzes the states in view of the driving environment to determine a real-time traffic condition at a point in time. The system determines whether the real-time traffic condition of the driving environment matches at least a predetermined traffic condition. The system transmits data concerning the real-time traffic condition to a remote server over a network to allow the remote server to generate an updated map having real-time traffic information, in response to determining the real-time traffic condition is unknown. In response to receiving the updated map, the system plans and controls the ADV based on the updated map.
    Type: Grant
    Filed: March 8, 2018
    Date of Patent: March 8, 2022
    Assignee: BAIDU USA LLC
    Inventors: Jiaming Tao, Dong Li, Yifei Jiang, Liangliang Zhang, Jiangtao Hu
  • Patent number: 11260880
    Abstract: In one embodiment, instead of using map data, a relative coordinate system is utilized to assist perception of the driving environment surrounding an ADV for some driving situations. One of such driving situations is driving on a highway. Typically, a highway has fewer intersections and exits. The relative coordinate system is utilized based on the relative lane configuration and relative obstacle information to control the ADV to simply follow the lane and avoid potential collision with any obstacles discovered within the road, without having to use map data. Once the relative lane configuration and obstacle information have been determined, regular path and speed planning and optimization can be performed to generate a trajectory to drive the ADV. Such a perception system is referred to as a relative perception system based on a relative coordinate system.
    Type: Grant
    Filed: April 18, 2018
    Date of Patent: March 1, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Qi Kong, Yuchang Pan, Feiyi Jiang, Xin Xu, Xiaoxin Fu, Zhongpu Xia, Chunming Zhao, Liangliang Zhang, Weicheng Zhu, Li Zhuang, Haoyang Fan, Hui Jiang, Jiaming Tao
  • Patent number: 11238733
    Abstract: A social driving style learning framework or system for autonomous vehicles is utilized, which can dynamically learn the social driving styles from surrounding vehicles and adopt the driving style as needed. Each of the autonomous vehicles within a particular driving area is equipped with the driving style learning system to perceive the driving behaviors of the surrounding vehicles to derive a set of driving style elements. Each autonomous vehicle transmits the driving style elements to a centralized remote server. The server aggregates the driving style elements collected from the autonomous vehicles to determine a driving style corresponding to that particular driving area. The server transmits the driving style back to each of the autonomous vehicles. The autonomous vehicles can then decide whether to adopt the driving style, for example, to follow the traffic flow with the rest of the vehicles nearby.
    Type: Grant
    Filed: July 19, 2018
    Date of Patent: February 1, 2022
    Assignee: BAIDU USA LLC
    Inventors: Yifei Jiang, Dong Li, Jiaming Tao, Jiangtao Hu, Liyun Li, Guang Yang, Jingao Wang
  • Patent number: 11214251
    Abstract: According to some embodiments, a system receives a first control command and a speed measurement of the ADV. The system determines an expected acceleration of the ADV based on the speed measurement and the first control command. The system receives an acceleration measurement of the ADV. The system determines a feedback error based on the acceleration measurement and the expected acceleration. The system updates a portion of the calibration table based on the determined feedback error. The system generates a second control command to control the ADV based on the calibration table having the updated portion to control the ADV autonomously according to the second control command.
    Type: Grant
    Filed: July 9, 2018
    Date of Patent: January 4, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Qi Kong, Lin Ma, Hui Jiang, Jiaming Tao, Liangliang Zhang
  • Patent number: 11199842
    Abstract: An autonomous driving vehicle (ADV) may determine a predicted path for a moving obstacle and speeds for different portions of the path. The ADV use multiple threads in parallel to determine the path and speeds for the different portions of the path.
    Type: Grant
    Filed: June 26, 2018
    Date of Patent: December 14, 2021
    Assignee: BAIDU USA LLC
    Inventors: Liangliang Zhang, Dong Li, Jiangtao Hu, Jiaming Tao, Yifei Jiang, Fan Zhu
  • Patent number: 11186276
    Abstract: In some implementations, a method is provided. The method includes determining a path for an autonomous driving vehicle. The path is located within a first lane of an environment in which the autonomous driving vehicle is currently located. The method also includes obtaining sensor data. The sensor data indicates a set of speeds for a set of moving obstacles located in a second lane of the environment and wherein the second lane is adjacent to the first lane. The method further includes determining whether the set of speeds is lower than a threshold speed. The method further includes determining a new speed for the autonomous driving vehicle in response to determining that the set of speeds is lower than the threshold speed. The method further includes controlling the autonomous driving vehicle based on the path and the new speed.
    Type: Grant
    Filed: July 27, 2018
    Date of Patent: November 30, 2021
    Assignee: BAIDU USA LLC
    Inventors: Jiaming Tao, Liangliang Zhang, Dong Li, Yifei Jiang, Jiangtao Hu, Fan Zhu
  • Patent number: 11180165
    Abstract: In one embodiment, an autonomous driving vehicle (ADV) operates in an on-lane mode, where the ADV follows a path along a vehicle lane. In response to determining that the ADV is approaching a dead-end, the ADV switches to an open-space mode. While in the open-space mode, the ADV conducts a three-point turn using a series of steering and throttle commands to generate forward and reverse movements until the ADV is within a) a threshold heading, and b) a threshold distance, relative to the vehicle lane. The ADV can then return to the on-lane mode and resume along the vehicle lane away from the dead-end.
    Type: Grant
    Filed: December 26, 2019
    Date of Patent: November 23, 2021
    Assignee: BAIDU USA LLC
    Inventors: Jinyun Zhou, Shu Jiang, Jiaming Tao, Qi Luo, Jinghao Miao, Jiangtao Hu, Jiaxuan Xu, Yu Wang
  • Publication number: 20210323578
    Abstract: In one embodiment, a computer-implemented method for optimizing a controller of an autonomous driving vehicle (ADV) includes obtaining several samples, each sample having a set of parameters, iteratively performing, until a predetermined condition is satisfied: determining, for each sample, a score according to a configuration of the controller based on the set of parameters of the sample, applying a machine learning model to the samples and corresponding scores to determine a mean function and a variance function, producing a new sample as a minimum of a function of the mean function and the variance function with respect to an input space of the set of parameters, adding the new sample to the several samples, and outputting the new sample as an optimal sample, where parameters of the optimal sample are utilized to configure the controller to autonomously drive the ADV.
    Type: Application
    Filed: April 15, 2020
    Publication date: October 21, 2021
    Inventors: YU WANG, QI LUO, JIAXUAN XU, JINYUN ZHOU, SHU JIANG, JIAMING TAO, YU CAO, WEI-MAN LIN, KECHENG XU, JINGHAO MIAO, JIANGTAO HU
  • Publication number: 20210318683
    Abstract: In one embodiment, method performed by an autonomous driving vehicle (ADV) that determines, within a driving space, a plurality of routes from a current location of the ADV to a desired location. The method determines, for each route of the plurality of routes, an objective function to control the ADV autonomously along the route and, for each of the objective functions, performs Differential Dynamic Programming (DDP) optimization in view of a set of constraints to produce a path trajectory. The method determines whether at least one of the path trajectories satisfies each constraint and, in response to a path trajectory satisfying each of the constraints, selects the path trajectory for navigating the ADV from the current location to the desired location.
    Type: Application
    Filed: April 8, 2020
    Publication date: October 14, 2021
    Inventors: QI LUO, JINYUN ZHOU, SHU JIANG, JIAMING TAO, YU WANG, JIAXUAN XU, KECHENG XU, JINGHAO MIAO, JIANGTAO HU
  • Patent number: 11143513
    Abstract: According to one embodiment, perception data describing a set of trajectories driven by a number of vehicles is received at a server from the vehicles or data collection agents over a network. The vehicles were driving through a road segment of a road over a period of time and their driving trajectories were captured. A trajectory analysis is the performed on the perception data using a set of rules to determine driving behaviors of the corresponding vehicles. A lane configuration of the road segment is then determined based on the driving behaviors. A map segment of a navigation map is then updated based on the lane configuration of one or more lanes within the road segment. A higher definition map can be generated based on the updates of the navigation map and the lane configuration, which can be utilized to autonomously drive an ADV subsequently.
    Type: Grant
    Filed: October 19, 2018
    Date of Patent: October 12, 2021
    Assignee: BAIDU USA LLC
    Inventors: Yifei Jiang, Liangliang Zhang, Dong Li, Jiaming Tao, Jiangtao Hu