Patents by Inventor Lin Ma

Lin Ma 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).

  • Publication number: 20210188309
    Abstract: In one embodiment, a method for generating a reference line for operating an autonomous driving vehicle includes determining a first ending reference point having a smallest curvature among a plurality of points within a first defined distance along a path, generating a first reference line based on a first initial reference point and the first ending reference point, determining a second ending reference point having a smallest curvature among a plurality of points within a second defined distance along the path, generating a second reference line based on the first and second ending reference points and an end section of the first reference line, connecting the first and second reference lines, and controlling the autonomous driving vehicle along the connected first reference line and the second reference line.
    Type: Application
    Filed: March 29, 2019
    Publication date: June 24, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU, Jingao WANG
  • Publication number: 20210188266
    Abstract: A computer-implemented method, apparatus, and system for receiving and calibrating lateral deviation values and for controlling an autonomous vehicle to correct the lateral deviation is described. In every perception and planning cycle, a single lateral deviation value representative of an estimated autonomous vehicle lateral deviation from a reference line (e.g., corresponding to a center of the lane) is generated based on camera detection. The deviation value for a present cycle is received. A calibrated deviation value can be updated for the present cycle based on the received deviation value and a Gaussian distribution model. Control signals for the present cycle are generated to drive the autonomous vehicle to at least partially correct the autonomous vehicle lateral deviation based on the updated calibrated deviation value.
    Type: Application
    Filed: March 28, 2019
    Publication date: June 24, 2021
    Inventors: Xin XU, Fan ZHU, Lin MA
  • Publication number: 20210188272
    Abstract: An ADV perceives a driving environment surrounding the ADV based on sensor data obtained from a variety of sensors mounted on the ADV including, for example, perceiving and recognizing a corner the ADV may be about to turn. Based on the perception data of the driving environment, a set of features representing the characteristics of an entrance point of a corner that the ADV is about to turn. Based on the characteristics of the corner, an entrance point of the corner is determined. Based on the entrance point, a lookup operation is performed in a corner mapping table to locate a mapping entry matching the entrance point. A turning radius is then obtained from the mapping entry of the corner mapping table. The turning radius obtained from the corner mapping table is then utilized to plan a trajectory (e.g., steering angle) to drive the ADV to turn the corner.
    Type: Application
    Filed: December 26, 2018
    Publication date: June 24, 2021
    Inventors: Xin XU, Fan ZHU, Lin MA
  • Publication number: 20210191393
    Abstract: The disclosure describes various embodiments for monitoring safety of an autonomous driving vehicle (ADV. In one embodiment, a method includes the operations of receiving, by a vehicle controller, one or more error message from a patrol module, the one or more error messages generated by an autonomous driving system of the ADV operating in an autonomous mode, the patrol module monitoring the autonomous driving system; evaluating a status of the autonomous driving system based on the one or more error messages; and keeping the ADV in the autonomous mode or switching it to a manual mode based on the status of the autonomous driving system.
    Type: Application
    Filed: March 28, 2019
    Publication date: June 24, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU
  • Publication number: 20210188285
    Abstract: A computer-implemented method, apparatus, and system for discretizing lane markings and for generating a lane reference line is disclosed. A polynomial defined over an (x,y) coordinate system is received, the polynomial being representative of at least a portion of a lane boundary line. A length of the polynomial is determined. The polynomial is discretized, comprising determining a plurality of discretization points on the polynomial to represent the polynomial, wherein a first discretization point is a first end of the polynomial, wherein subsequent discretization points are determined successively until the polynomial is completely discretized, and wherein each discretization point other than the first discretization point is determined based at least in part on a slope of the polynomial at a previous discretization point. Thereafter, a lane reference line comprising a plurality of points is generated based on the discretized polynomial.
    Type: Application
    Filed: March 28, 2019
    Publication date: June 24, 2021
    Inventors: Xin XU, Fan ZHU, Lin MA
  • Publication number: 20210188354
    Abstract: A three-point-turn is planned and executed in the operation of an autonomous driving vehicle (ADV). A candidate route from a start point and going through an end point is determined, the start point and the end point being in lanes associated with opposite travel directions. The candidate route is categorized into partially overlapping first, second, and third segments. A total cost associated with the candidate route is determined based at least in part on the first and second segments. Whether the total cost is below a threshold cost is determined. In response to a determination that the total cost is below the threshold cost, the three-point-turn is planned based on the candidate route. Further, driving signals are generated based at least in part on the planned three-point-turn to control operations of the ADV.
    Type: Application
    Filed: December 26, 2018
    Publication date: June 24, 2021
    Inventors: Lin MA, Fan ZHU, Xin XU
  • Publication number: 20210188308
    Abstract: In one embodiment, a method includes the operation of segmenting a raw reference line into a plurality of reference line segments, including a first reference line segment, a second reference segment, and a third reference line segment in a sequential order, in response to receiving the raw reference line representing a route from a first location to a second location associated with an autonomous driving vehicle (ADV). The method further includes the operations of smoothing the first reference line segment and the third reference line segment using a Quadratic programming (QP) spline smoother; and smoothing the second reference line segment using a spiral smoother. Smoothed reference line segments from the plurality of reference line segments are connected to generate a smoothed reference line, which is to be used as a reference line of the route to control the ADV.
    Type: Application
    Filed: March 28, 2019
    Publication date: June 24, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU
  • Publication number: 20210188319
    Abstract: Various embodiments of the invention enable an ADV to dynamically adjust its behaviors to emulate behaviors of a vehicle operated by a human driver when the ADV encounters an obstacle. A dynamic cost function can be used to collect real-time values of a set of parameters, and use the real-time values to constantly adjust a preferred safety distance where the ADV can be stopped ahead of the obstacle. An method includes determining a first distance to the obstacle in response to detecting an obstacle ahead of the ADV; and for each of a number of iterations, collecting a real-time value for each of a set of parameters, determining an offset to the first distance using the real-time value for each of the set of parameters, calculating a second distance based on the first distance and the offset, and controlling the ADV in view of the second distance using an expected value of each of the set of parameters, such that the ADV can stop at a point having the second distance to the obstacle.
    Type: Application
    Filed: December 20, 2019
    Publication date: June 24, 2021
    Inventors: XIN XU, FAN ZHU, YU DONG, LIN MA
  • Publication number: 20210188282
    Abstract: In one embodiment, described herein is a system and method for filtering obstacles to reduce the number of obstacles for an autonomous driving vehicle (ADV) to process in a given planning phase. The ADV can identify a first set of obstacles based on a set of criteria in a first lane where the ADV is travelling, filter out the remaining obstacles in the first lane, and expand each identified obstacle to a width of the first lane from the view of the ADV so that the ADV cannot nudge any of the first set of identified obstacles. When switching from the first lane to a second lane, the ADV can identify a second set of obstacles in the second lane using the same set of criteria, and expand each obstacle in the second set of obstacles to a width of the second lane while keep tracking the first set of identified obstacles. When the lane switching is completed, the ADV can stop tracking the first set of identified obstacles.
    Type: Application
    Filed: December 26, 2018
    Publication date: June 24, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU
  • Publication number: 20210191411
    Abstract: In one embodiment, an autonomous driving system perceives a driving environment surrounding an ADV based on sensor data obtained from various sensors, including identifying one or more objects. For each of the objects, an arc curve is generated connecting the object and a current location of the ADV using a predetermined algorithm. A curvature of the arc curve is calculated. One of the arc curves is selected in which the curvature of the selected arc curve satisfies a predetermined condition, such as the lowest curvature amongst all objects. A reference line is then generated by connecting the selected object and the current location of the ADV. The connected line between the selected object and the ADV is utilized as a part of a reference line. The reference line is utilized to generate a trajectory to drive the ADV.
    Type: Application
    Filed: December 26, 2018
    Publication date: June 24, 2021
    Inventors: Xin XU, Fan ZHU, Lin MA
  • Publication number: 20210191402
    Abstract: Based on sensor data obtained from a variety of sensors, a driving environment surrounding an autonomous driving vehicle (ADV) is perceived, including perceiving and identifying one or more obstacles. A trajectory is planned based on the perception data according to a set of rules to drive the ADV navigating through the driving environment. Trajectory data representing the trajectory is generated, where the trajectory data includes information indicating target or expected vehicle states at different points in time along the trajectory. The trajectory data is then transmitted in a sequence or a stream of one or more controller area network (CAN) messages to an electronic control unit (ECU) of the ADV over a CAN bus. The ECU is configured to generate and issue one or more control commands (e.g., throttle, brake, steering commands) based on the trajectory data to drive the ADV according to the trajectory.
    Type: Application
    Filed: March 29, 2019
    Publication date: June 24, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU, Jingao WANG
  • Patent number: 11044486
    Abstract: A virtual desktop can be remoted to a client device by transmitting a video stream using a video coding format, such as H.264, where higher resolution video can be streamed than natively supported by the encoder or decoder. The encoder framebuffer is divided into a plurality of equal size child buffers, each child buffer is assigned an identifier for identifying the child buffer. Padding pixels can be added to the child buffers to make the child buffer size acceptable for the video coding format. The child buffers are encoded using the video coding format and the encoded frames are transmitted to a client. On the decoder side, the encoded child frames are decoded, padding pixels are removed, and the data is used to update corresponding child buffers in a framebuffer on the client display system.
    Type: Grant
    Filed: March 4, 2019
    Date of Patent: June 22, 2021
    Assignee: VMware, Inc.
    Inventors: Yuping Wei, Yong Lin Ma, Lizhu Zhang
  • Publication number: 20210182616
    Abstract: A method, apparatus, and storage medium for training a neural network model used for image processing are described. The method includes: obtaining a plurality of video frames; inputting the plurality of video frames through a neural network model so that the neural network model outputs intermediate images; obtaining optical flow information between an early video frame and a later video frame; modifying an intermediate image corresponding to the early video frame according to the optical flow information to obtain an expected-intermediate image; determining a time loss between an intermediate image corresponding to the later video frame and the expected-intermediate image; determining a feature loss between the intermediate images and a target feature image; and training the neural network model according to the time loss and the feature loss, and returning to obtaining a plurality of video frames continue training until the neural network model satisfies a training finishing condition.
    Type: Application
    Filed: February 26, 2021
    Publication date: June 17, 2021
    Applicant: Tencent Technology (Shenzhen) Company Limited
    Inventors: Haozhi HUANG, Hao WANG, Wenhan LUO, Lin MA, Peng YANG, Wenhao JIANG, Xiaolong ZHU, Wei LIU
  • Publication number: 20210181756
    Abstract: According to various embodiments, systems and methods for smoothing a reference line for an autonomous driving vehicle are described. In an exemplary method, a raw reference line can be generated from a high definition map and routing results, and can be truncated based on a predetermined formula. The truncated raw reference line can include a number of points, each point representing a position of an autonomous driving vehicle in a global coordinate system. The number of points can be converted to points in a local coordinate system, where a polynomial curve that best fits the points are generated. The polynomial curve can subsequently be used to generate a new vertical coordinate for a horizontal coordinate of each of the number of points. The new vertical coordinates and their corresponding horizontal coordinates can be converted back to the global coordinate system. The polynomial curve can be used to derive a heading, a kappa, and a dkappa for each point in the global coordinate system.
    Type: Application
    Filed: December 26, 2018
    Publication date: June 17, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU
  • Publication number: 20210179101
    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: Application
    Filed: July 9, 2018
    Publication date: June 17, 2021
    Inventors: Fan ZHU, Qi KONG, Lin MA, Hui JIANG, Jiaming TAO, Liangliang ZHANG
  • Publication number: 20210179134
    Abstract: According to various embodiments, systems and methods are provided for use by an ADV to nudge incoming objects in a self-reverse lane. In an embodiment, an ADV determines that a self-reverse lane has a predetermined width before entering the self-reverse lane. After entering the self-reverse lane, the ADV can follow a first reference line at the center of the self-reverse lane. In response to detecting an incoming object, the ADV creates an alternative lane in the self-reverse lane by temporarily modifying a high definition map. The ADV subsequently follows a second reference line in the alternative lane to nudge the incoming object. In response to detecting that the incoming object has passed and the self-reverse lane is clear, the ADV can drive back to the center of the self-reverse lane, to continue to follow the first reference line in the self-reverse lane.
    Type: Application
    Filed: December 26, 2018
    Publication date: June 17, 2021
    Inventors: Fan ZHU, Lin MA, Xin XU
  • Publication number: 20210174152
    Abstract: Embodiments of this application disclose a video classification method, including: obtaining a to-be-processed video; obtaining a visual signal feature sequence corresponding to the to-be-processed video by using a video classification prediction model; obtaining an audio signal feature sequence corresponding to the visual signal feature sequence by using the video classification prediction model; generating a target signal feature sequence according to the visual signal feature sequence and the audio signal feature sequence; and obtaining a classification prediction result corresponding to the target signal feature sequence by using the video classification prediction model, the classification prediction result being used for predicting a video type of the to-be-processed video. The embodiments of this application further disclose a server.
    Type: Application
    Filed: February 19, 2021
    Publication date: June 10, 2021
    Inventor: Lin MA
  • Publication number: 20210174031
    Abstract: The present disclosure describes methods, devices, and storage medium for generating a natural language description for a media object. The method includes respectively processing, by a device, a media object by using a plurality of natural language description models to obtain a plurality of first feature vectors corresponding to a plurality of feature types. The device includes a memory storing instructions and a processor in communication with the memory. The method also includes fusing, by the device, the plurality of first feature to obtain a second feature vector; and generating, by the device, a natural language description for the media object according to the second feature vector, the natural language description being used for expressing the media object in natural language. The present disclosure resolves the technical problem that natural language description generated for a media object can only give an insufficiently accurate description of the media object.
    Type: Application
    Filed: February 23, 2021
    Publication date: June 10, 2021
    Applicant: TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
    Inventors: Bairui WANG, Lin MA, Yang FENG, Wei LIU
  • Publication number: 20210174072
    Abstract: Embodiments of this application disclose a microexpression-based image recognition method and apparatus, and a related device.
    Type: Application
    Filed: February 22, 2021
    Publication date: June 10, 2021
    Inventors: Kaihao ZHANG, Wenhan Luo, Lin Ma, Wei Liu
  • Patent number: 11017220
    Abstract: A classification model training method is provided. The method includes selecting a training dataset, determining a category of a sketch in the training dataset according to a sketch classification model, to obtain a first category processing result, and analyzing, according to a second feature analysis model, a feature of the sketch extracted by a first feature extracting model, to obtain a second analysis result of the sketch; then obtaining a function value of a first loss function according to the first category processing result and the second analysis result of the sketch; and finally adjusting a first model parameter value of the sketch classification model according to the function value of the first loss function.
    Type: Grant
    Filed: November 26, 2019
    Date of Patent: May 25, 2021
    Assignee: Tencent Technology (Shenzhen) Company Limited
    Inventors: Fei Huang, Lin Ma, Wei Liu