Abstract: In one embodiment, a system uses an actor-critic reinforcement learning model to generate a trajectory for an autonomous driving vehicle (ADV) in an open space. The system perceives an environment surrounding an ADV. The system applies a RL algorithm to an initial state of a planning trajectory based on the perceived environment to determine a plurality of controls for the ADV to advance to a plurality of trajectory states based on map and vehicle control information for the ADV. The system determines a reward prediction by the RL algorithm for each of the plurality of controls in view of a target destination state. The system generates a first trajectory from the trajectory states by maximizing the reward predictions to control the ADV autonomously according to the first trajectory.

Abstract: In one embodiment, an open space model is generated for a system to plan trajectories for an ADV in an open space. The system perceives an environment surrounding an ADV including one or more obstacles. The system determines a target function for the open space model based on constraints for the one or more obstacles and map information. The system iteratively, performs a first quadratic programming (QP) optimization on the target function based on a first trajectory while fixing a first set of variables, and performs a second QP optimization on the target function based on a result of the first QP optimization while fixing a second set of variables. The system generates a second trajectory based on results of the first and the second QP optimizations to control the ADV autonomously according to the second trajectory.

Abstract: In one embodiment, a method of training dynamic models for autonomous driving vehicles includes the operations of receiving a first set of training data from a training data source, the first set of training data representing driving statistics for a first set of features; training a dynamic model based on the first set of training data for the first set of features; determining a second set of features as a subset of the first set of features based on evaluating the dynamic model, each of the second set of features representing a feature whose performance score is below a predetermined threshold. The method further includes the following operations for each of the second set of features: retrieving a second set of training data associated with the corresponding feature of the second set of features, and retraining the dynamic model using the second set of training data.

Abstract: In one embodiment, a computer-implemented method of autonomously parking an autonomous driving vehicle, includes generating environment descriptor data describing a driving environment surrounding the autonomous driving vehicle (ADV), including identifying a parking space and one or more obstacles within a predetermined proximity of the ADV, generating a parking trajectory of the ADV based on the environment descriptor data to autonomously park the ADV into the parking space, including optimizing the parking trajectory in view of the one or more obstacles, segmenting the parking trajectory into one or more trajectory segments based on a vehicle state of the ADV, and controlling the ADV according to the one or more trajectory segments of the parking trajectory to autonomously park the ADV into the parking space without collision with the one or more obstacles.

Abstract: In one embodiment, a computer-implemented method of operating an autonomous driving vehicle (ADV) includes perceiving a driving environment surrounding the ADV based on sensor data obtained from one or more sensors mounted on the ADV, determining a driving scenario, in response to a driving decision based on the driving environment, applying a predetermined machine-learning model to data representing the driving environment and the driving scenario to generate a set of one or more driving parameters, and planning a trajectory to navigate the ADV using the set of the driving parameters according to the driving scenario through the driving environment.

Abstract: An autonomous driving vehicle (ADV) receives instructions for a human test driver to drive the ADV in manual mode and to collect a specified amount of driving data for one or more specified driving categories. As the user drivers the ADV in manual mode, driving data corresponding to the one or more driving categories is logged. A user interface of the ADV displays the one or more driving categories that the human driver is instructed collect data upon, and a progress indicator for each of these categories as the human driving progresses. The driving data is uploaded to a server for machine learning. If the server machine learning achieves a threshold grading amount of the uploaded data to variables of a dynamic self-driving model, then the server generates an ADV self-driving model, and distributes the model to one or more ADVs that are navigated in the self-driving mode.

Abstract: According to one embodiment, in response to a request to park an ADV into a parking lot, a remote server is accessed over a network (e.g., a VX2 link) to obtain a list of parking spaces that appear to be available in the parking lot. Based on the list of available parking spaces and the map associated with the parking lot, a route is generated to navigate through at least the available parking spaces. The ADV is driven according to the route to locate at least one of the available parking spaces and to park the ADV into the located available parking space. The centralized server is configured to periodically receive signals from a number of parking lots indicating which of the parking spaces of the parking lots are apparently available.

Abstract: The present invention discloses a speaker module and a sound production device. The module comprises a module shell and a speaker unit mounted in the module shell. The module shell comprises a shell main body and two fixed pole plates connected fixedly on the shell main body. The two fixed pole plates are insulated from each other, and each of the two fixed pole plates has a connecting portion exposed to the outside of the shell main body. A vibration system of the speaker unit is provided with a movable pole plate, and each of the two fixed pole plates together with the movable pole plate form a variable capacitor. The speaker module is configured to output an electrical signal representing a vibration displacement of the vibration system by the connecting portions of the two fixed pole plates.

Abstract: A moving-coil loudspeaker is provided, comprising a vibration system and a magnetic circuit system located below the vibration system; the vibration system including a diaphragm, a spider, and a voice coil, the diaphragm comprising a diaphragm body part and a diaphragm reinforcing part; and the magnetic circuit system including a center washer, a center magnet, and a magnetic yoke; wherein the diaphragm reinforcing part comprises a first conductive material layer, the spider comprises a second conductive material layer, and the diaphragm reinforcing part and the spider are bonded by a conductive adhesive which establishes electrically connection between the first and second conductive material layers; and wherein the first and second conductive material layers functioning as a movable plate, and the center washer, the center magnet, and the magnetic yoke functioning as a fixed plate constitute a capacitor structure for detecting a vibration displacement of the moving-coil loudspeaker.

Abstract: Disclosed is a moving-coil loudspeaker, comprising a vibration system and a magnetic circuit system located below the vibration system. The vibration system comprises a vibrating diaphragm, a spider, and a voice coil that are combined from top to bottom. The vibrating diaphragm comprises a vibrating diaphragm body with a surround, and a vibrating diaphragm reinforcing portion incorporated in the central position below the vibrating diaphragm body. The vibrating diaphragm reinforcing portion comprises a first layer of electrically conductive material, the spider comprises a second layer of electrically conductive material, and the vibrating diaphragm reinforcing portion is bonded to and conducts with the spider by an electrically conductive adhesive. The magnetic circuit system comprises a central spring washer, a central magnet, and a magnetically conductive yoke combined together from top to bottom.

Abstract: The present invention discloses a speaker module and a sound production device. The module comprises a module shell and a speaker unit mounted in the module shell. The module shell comprises a shell main body and two fixed pole plates connected fixedly on the shell main body. The two fixed pole plates are insulated from each other, and each of the two fixed pole plates has a connecting portion exposed to the outside of the shell main body. A vibration system of the speaker unit is provided with a movable pole plate, and each of the two fixed pole plates together with the movable pole plate form a variable capacitor. The speaker module is configured to output an electrical signal representing a vibration displacement of the vibration system by the connecting portions of the two fixed pole plates.

Abstract: A moving-coil loudspeaker is provided, comprising a vibration system and a magnetic circuit system located below the vibration system; the vibration system including a diaphragm, a spider, and a voice coil, the diaphragm comprising a diaphragm body part and a diaphragm reinforcing part; and the magnetic circuit system including a center washer, a center magnet, and a magnetic yoke; wherein the diaphragm reinforcing part comprises a first conductive material layer, the spider comprises a second conductive material layer, and the diaphragm reinforcing part and the spider are bonded by an insulative adhesive; and wherein the first and second conductive material layers functioning as a movable plate, and the center washer, the center magnet, and the magnetic yoke functioning as a fixed plate constitute a capacitor structure for detecting a vibration displacement of the moving-coil loudspeaker.

Abstract: An electronic device with a vibrating element which also produces sound includes a casing, an operation panel mounted to the casing, and a vibrator and a processor received in the casing. The operation panel includes a plurality of buttons. Each button can generate an input signal when pressed. The vibrator is attached to an inner surface of the casing. The processor is electrically connected to each button and the vibrator. The processor controls the vibrator to vibrate at a preset frequency in response to the input signal, thereby simultaneously generating sound with the vibration. The size of the electronic device is accordingly decreased.

Abstract: A receiver with an equalizer and an equalizing method are disclosed. The method includes equalizing received serial data in the equalizer, detecting an error in equalized serial data output by the equalizer, and determining reset of the equalizer in relation to an error detection.

Abstract: The phase detection circuit may allow an operating speed of a semiconductor circuit to be increased irrespective of whether a combinational logic circuit within the semiconductor circuit operates at lower operating speeds. The phase detection circuit may adjust a data rate of an input data signal and selectively enable reference signals and error signals. The phase detection circuit may be included within a clock data recovery circuit.

Abstract: A circuit for recovering a clock signal may include a frequency multiplier configured to generate a plurality of local clock signals, each having a different phase, based on a plurality of received global clock signals at a first frequency and each having a different phase. The local clock signals may be generated at a second frequency higher than the first frequency. The circuit may include a phase interpolator configured to generate a recovered clock signal at a given phase and at a third frequency, based on the generated local clock signals, and a phase shifter configured to adjust the phase of the recovered clock signal so as to synchronize the phase of the recovered clock signal with a phrase of input data that is input to the phase shifter.

Abstract: A receiver with an equalizer and an equalizing method are disclosed. The method includes equalizing received serial data in the equalizer, detecting an error in equalized serial data output by the equalizer, and determining reset of the equalizer in relation to an error detection.

Abstract: The phase detection circuit may allow an operating speed of a semiconductor circuit to be increased irrespective of whether a combinational logic circuit within the semiconductor circuit operates at lower operating speeds. The phase detection circuit may adjust a data rate of an input data signal and selectively enable reference signals and error signals. The phase detection circuit may be included within a clock data recovery circuit.

Abstract: A circuit for recovering a clock signal may include a frequency multiplier configured to generate a plurality of local clock signals, each having a different phase, based on a plurality of received global clock signals at a first frequency and each having a different phase. The local clock signals may be generated at a second frequency higher than the first frequency. The circuit may include a phase interpolator configured to generate a recovered clock signal at a given phase and at a third frequency, based on the generated local clock signals, and a phase shifter configured to adjust the phase of the recovered clock signal so as to synchronize the phase of the recovered clock signal with a phrase of input data that is input to the phase shifter.