Abstract: According to some embodiments, a system receives a first set of reference points based on a map and a route information, the first plurality of reference points representing a reference line in which the ADV is to follow. The system selects a second set of reference points along the reference line, including iteratively performing, selecting a current reference point from the first set of reference points, determining a sampling distance along the first set of reference points based on the currently selected reference point using a nonlinear algorithm, and selecting a next reference point based on the determined sampling distance such that a density of the second set of reference points closer to the ADV is higher than a density of the selected reference points farther away from the ADV. The system plans a trajectory for the ADV using the second set of reference points to control the ADV.

Abstract: According to one embodiment, an ADV is controlled according to a first trajectory planned during a first planning cycle. A control error is determined which represents a drifting error at a first location of the ADV at a first point in time at the end of the first planning cycle. A second point in time is selected on the first trajectory. A second trajectory is generated from a second location on the first trajectory corresponding o the second point in time as a starting location of the second trajectory for a second planning cycle as a next planning cycle. A segment of the first trajectory between the first point in time and the second point in time is combined with the second trajectory to generate a third trajectory for the second planning cycle. The ADV is driven and controlled according to the third trajectory corresponding to the second planning cycle.

Abstract: A surrounding environment of an autonomous vehicle is perceived to identify one or more vehicles nearby. For each of the identified vehicles, based on a current location of the identified vehicle, vehicle-independent information is obtained to determine context surrounding the identified vehicle, where the vehicle-independent information includes vehicle surrounding information that defines physical constraints imposed on the identified vehicle. For each of the identified vehicles, one or more trajectories for the identified vehicle are predicted based at least in part on the vehicle-independent information associated with the identified vehicle. The autonomous vehicle is controlled based on the one or more predicted trajectories of the one or more identified vehicles.

Abstract: According to some embodiments, a system generates a driving trajectory from a starting point to a destination point for an ADV. In one embodiment, the system calculates a first trajectory based on a map and a route information. The system generates a path profile based on the first trajectory, traffic rules, and blocking obstacles perceived by the ADV. The system determines non-blocking obstacles perceived by the ADV. The system generates a speed profile of the ADV for the path profile based on the non-blocking obstacles to identify a speed of the ADV to avoid the blocking obstacles in view of the non-blocking obstacles. The system generates a second trajectory based on the path profile and the speed profile to control the ADV autonomously according to the second trajectory.

Abstract: In one embodiment, an intelligent and prompt alarm system is designed on autonomous driving vehicles to help autonomous driving vehicles to communicate to human drivers more vigilantly and promptly, and to improve human driver's performance to take over when an autonomous driving failure occurs. In one embodiment, an alarm system can be developed several levels: 1) basic warning, 2) risk warning, and 3) emergency/take-over alarming.

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.

Abstract: Embodiments of the present application provide a communication method, including: the first node sends the second message to the third node, where the second message is used to instruct the third node to perform a corresponding operation. This resolves a problem of relatively high power consumption generated when the third node needs to periodically listen to a message sent by the second node when the third node performs D2D communication in a D2D communication process, and achieves an objective and an effect of effectively saving power when the third node receives information sent by the second node during D2D communication.

Abstract: A service transmission method is provided. A first base station, which establishes an RRC connection with a UE, sends a request message to a second base station which is at least one of base stations serving the UE, where the request message includes service information, where the service information includes QoS information of a service and/or configuration information of an RB, and the request message instructs the second base station to perform resource configuration according to service information. The first base station sends a configuration message to the UE, where the configuration message includes configuration list information of the RB and/or cell information of the offload base station.

Abstract: Embodiments of the present disclosure relate to a data transmission method, a transmit end device, and a receive end device. The method includes: generating, by a transmit end device, at least first data and second data based on to-be-transmitted data, where a size of the first data and a size of the second data are different; and sending, by the transmit end device, the first data by using a first transmission channel, and sending the second data by using a second transmission channel, where a transmission delay of the first transmission channel is different from a transmission delay of the second transmission channel.

Abstract: By using a method for coordination between base stations, one base station allocates a resource to user equipment in a better manner with reference to resource configuration information saved in the base station and resource configuration information of another base station. The method provided in the embodiments of the present invention includes: acquiring, by a first base station, resource configuration information of a first cell, where the first cell is a cell served by the first base station; receiving resource configuration information of a second cell sent by a second base station, where the second cell is a cell served by the second base station; and allocating a resource to user equipment according to the resource configuration information of the first cell and the resource configuration information of the second cell, so that the user equipment communicates with the first cell and the second cell.

Abstract: A surrounding environment of an autonomous vehicle is perceived to identify one or more vehicles nearby. For each of the identified vehicles, based on a current location of the identified vehicle, vehicle-independent information is obtained to determine context surrounding the identified vehicle, where the vehicle-independent information includes vehicle surrounding information that defines physical constraints imposed on the identified vehicle. For each of the identified vehicles, one or more trajectories for the identified vehicle are predicted based at least in part on the vehicle-independent information associated with the identified vehicle. The autonomous vehicle is controlled based on the one or more predicted trajectories of the one or more identified vehicles.

Abstract: A method and a device for establishing an evolved packet system EPS bearer are disclosed. The method includes establishing, by a first base station to which UE belongs, a first EPS bearer based on a first CC for the UE, wherein the first EPS bearer is an EPS bearer between the first base station and the UE; and instructing, by the first base station, a second base station to establish a second EPS bearer based on a second CC for the UE, wherein the second EPS bearer is an EPS bearer between the second base station and the UE. The present invention enables the UE to aggregate carriers of different frequency ranges from the first base station to which the UE belongs and the second base station to which the UE belongs to transmit data, thus improving the throughput of the data transmitted by the UE.

Abstract: According to some embodiments, a system segments a first path trajectory selected from an initial location of the ADV into a number of path segments, where each path segment is represented by a polynomial function. The system selects an objective function in view of the polynomial functions of the path segments for smoothing connections between the path segments. The system defines a set of constraints to the polynomial functions based on adjacent path segments in view of at least a road boundary and an obstacle perceived by the ADV. The system performs a quadratic programming (QP) optimization on the objective function in view of the added constraints, such that an output of the objective function reaches a minimum. The system generates a second path trajectory representing a path trajectory with an optimized objective function based on the QP optimization to control the ADV autonomously.

Abstract: According to some embodiments, a system selects a number of polynomials representing a number of time segments of a time duration to complete the path trajectory. The system selects an objective function based on a number of cost functions to smooth speeds between the time segments. The system defines a set of constraints to the polynomials to at least ensure the polynomials are smoothly joined together. The system performs a quadratic programming (QP) optimization on the objective function in view of the set of constraints, such that a cost associated with the objective function reaches a minimum while the set of constraints are satisfied. The system generates a smooth speed for the time duration based on the optimized objective function to control the ADV autonomously.

Abstract: According to some embodiments, a system determines a number of boundary areas having predetermined dimensions centered around each of a number of control points of a first reference line. The system selects a number of two-dimensional polynomials each representing a segment of an optimal reference line between adjacent control points. The system defines a set of constraints to the two-dimensional polynomials to at least ensure the two-dimensional polynomials passes through each of the boundary areas. The system performs a quadratic programming (QP) optimization on a target function such that a total cost of the target function reaches minimum while the set of constraints are satisfied. The system generates a second reference line representing the optimal reference line based on the QP optimization to control the ADV autonomously according to the second reference line.

Abstract: A service transmission method is provided. A first base station, which establishes an RRC connection with a UE, sends a request message to a second base station which is at least one of base stations serving the UE, where the request message includes service information, where the service information includes QoS information of a service and/or configuration information of an RB, and the request message instructs the second base station to perform resource configuration according to service information. The first base station sends a configuration message to the UE, where the configuration message includes configuration list information of the RB and/or cell information of the offload base station.

Abstract: Embodiments of the present disclosure provide a communication method, a network side device, and a user terminal. The method includes: establishing, by a user terminal, a connection to a first base station by using a first component carrier; sending, by the first base station, a preprocessing indication message to the user terminal, to indicate that the user terminal is to perform uplink synchronization with a second base station on a second component carrier; and obtaining, by the first base station, a target second base station, and sending a first indication message to the target second base station, to indicate that the user terminal is to perform data transmission with the target second base station.

Abstract: The present disclosure discloses a permanent magnet electric motor, which is a radial flux electric motor, consisting of a stator and a rotor, wherein an inner circle of the stator is provided with N stator teeth evenly in circumferential direction, each of the stator teeth is wound by a coil, and the N coils form stator windings, wherein, the N is an integer not less than 12. Additionally, the number of magnetic poles of the rotor is not less than 12 so that widths and the centrifugal forces of the magnets under each of the magnetic poles are limited, thereby facilitating the high speed operation of the electric motor and improving the safety. The stator is manufactured by laminating a plurality of annular thin sheets with a same shape, and the material of the annular thin sheets is an amorphous magnetic conductive material, whose power loss in an alternating magnetic field is lower than that of silicon steel, which hugely increases the efficiency of the electric motor.

Abstract: By using a method for coordination between base stations, one base station allocates a resource to user equipment in a better manner with reference to resource configuration information saved in the base station and resource configuration information of another base station. The method provided in the embodiments of the present invention includes: acquiring, by a first base station, resource configuration information of a first cell, where the first cell is a cell served by the first base station; receiving resource configuration information of a second cell sent by a second base station, where the second cell is a cell served by the second base station; and allocating a resource to user equipment according to the resource configuration information of the first cell and the resource configuration information of the second cell, so that the user equipment communicates with the first cell and the second cell.

Abstract: When generating a control command of an autonomous driving vehicle (ADV), a pitch status and/or a roll status of the road is determined. The control command is adjusted based on the pitch status and the roll status. For example, when an ADV is driving on an uphill or downhill road, a pitch status of the road is determined and a speed control command will be generated based on the pitch status of the road, such that the ADV have a similar acceleration rate as of driving on a flat road. Similarly, when the ADV is driving on a road that is tilted or rolled left or right, a roll status of the road is determined and a steering control command will be generated in view of the roll status of the road, such that the ADV have a similar heading direction as of driving on a flat road.