Patents by Inventor Yajia ZHANG
Yajia ZHANG 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).
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Patent number: 11663913Abstract: In one embodiment, an autonomous driving system of an ADV perceives a driving environment surrounding the ADV based on sensor data obtained from various sensors, including detecting one or more lanes and at least a moving obstacle or moving object. For each of the lanes identified, an NN lane feature encoder is applied to the lane information of the lane to extract a set of lane features. For a given moving obstacle, an NN obstacle feature encoder is applied to the obstacle information of the obstacle to extract a set of obstacle features. Thereafter, a lane selection predictive model is applied to the lane features of each lane and the obstacle features of the moving obstacle to predict which of the lanes the moving obstacle intends to select.Type: GrantFiled: July 1, 2019Date of Patent: May 30, 2023Assignee: BAIDU USA LLCInventors: Jiacheng Pan, Kecheng Xu, Hongyi Sun, Yajia Zhang, Jinghao Miao
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Patent number: 11662730Abstract: According to one embodiment, during a first planning cycle, a first lane boundary of a driving environment perceived by an ADV is determined using a first lane boundary determination scheme (e.g., current lane boundary), which has been designated as a current lane boundary determination scheme. A first trajectory is planned based on the first lane boundary to drive the ADV to navigate through the driving environment. The first trajectory is evaluated against a predetermined set of safety rules (e.g., whether it will collide or get too close to an object) to avoid a collision with an object detected in the driving environment. In response to determining that the first trajectory fails to satisfy the safety rules, a second lane determination boundary of the driving environment is determined using a second lane boundary determination scheme and a second trajectory is planned based on the second lane boundary to drive the ADV.Type: GrantFiled: July 1, 2019Date of Patent: May 30, 2023Assignee: BAIDU USA LLCInventors: Jiacheng Pan, Yifei Jiang, Yajia Zhang, Jiaming Tao, Jiangtao Hu
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Patent number: 11614740Abstract: In one embodiment, a method is provided. The method includes determining a first reference line representing a path through an environment for an autonomous driving vehicle. The method also includes determining a speed constraint function based on a set of speed limits associated with the environment, a set of curvatures of the path, and a set of obstacles in the environment, wherein the speed constraint function comprises a continuous function. The method further includes determining a set of speeds for the path through the environment based on the speed constraint function. The method further includes controlling the autonomous driving vehicle based on the path and the set of speeds.Type: GrantFiled: May 28, 2019Date of Patent: March 28, 2023Assignee: BAIDU USA LLCInventor: Yajia Zhang
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Patent number: 11378961Abstract: According to one embodiment, an obstacle is predicted to move from a starting point to an end point based on perception data perceiving a driving environment surrounding an ADV that is driving within a lane. A longitudinal movement trajectory from the starting point to the end point is generated in view of a shape of the lane. A lateral movement trajectory from the starting point to the end point is generated, including optimizing a shape of the lateral movement trajectory using a first polynomial function. The longitudinal movement trajectory and the lateral movement trajectory are then combined to form a final predicted trajectory that predicts how the obstacle is to move. A path is generated to control the ADV to move in view of the predicted trajectory of the obstacle, for example, to avoid the collision with the obstacle.Type: GrantFiled: April 17, 2018Date of Patent: July 5, 2022Assignee: BAIDU USA LLCInventors: Kecheng Xu, Jinghao Miao, Yajia Zhang
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Patent number: 11360482Abstract: Via a first processing thread, an ADV is controlled according to a first trajectory that was generated based on a first reference line starting at a first location. Concurrently via a second processing thread, a second reference line is generated based on a second location of the first trajectory that the ADV will likely reach within a predetermined period of time in future. The predetermined period of time is greater than or equals to an amount of time to generate a reference line for the ADV. The second reference line is generated while the ADV is moving according to the first trajectory and before reaching the second location. Subsequently, in response to determining that the ADV is within a predetermined proximity of the second location, a second trajectory is generated based on the second reference line without having to calculate the second reference line at the second location.Type: GrantFiled: January 29, 2018Date of Patent: June 14, 2022Assignee: BAIDU USA LLCInventors: Dong Li, Liangliang Zhang, Yajia Zhang, Yifei Jiang, Haoyang Fan, Jiangtao Hu
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Patent number: 11305765Abstract: In response to perceiving a moving object, one or more possible object paths of the moving object are determined based on the prior movement predictions of the moving object, for example, using a machine-learning model, which may be created based on a large amount of driving statistics of different vehicles. For each of the possible object paths, a set of trajectory candidates is generated based on a set of predetermined accelerations. Each of the trajectory candidates corresponds to one of the predetermined accelerations. A trajectory cost is calculated for each of the trajectory candidates using a predetermined cost function. One of the trajectory candidates having the lowest trajectory cost amongst the trajectory candidates is selected. An ADV path is planned to navigate the ADV to avoid collision with the moving object based on the lowest costs of the possible object paths of the moving object.Type: GrantFiled: April 23, 2019Date of Patent: April 19, 2022Assignee: BAIDU USA LLCInventors: Kecheng Xu, Yajia Zhang, Hongyi Sun, Jiacheng Pan, Jinghao Miao
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Patent number: 11273837Abstract: In one embodiment, a method of generating a path for an autonomous driving vehicle (ADV) is disclosed. The method includes obtaining vehicle configuration of the ADV. The vehicle configuration includes a longitudinal state of the ADV and a lateral state of the ADV relative to a discretized point along a reference line. The method further includes estimating one or more boundaries for the lateral state of the ADV with respect to the longitudinal state of the ADV. The estimation of the boundaries includes obtaining vehicle parameters and sensor data of the ADV, using a vehicle kinematic model to estimate the boundaries based on the vehicle parameters and the sensor data, and outputting the estimated boundaries. The method further includes generating an optimal path to control the ADV based on the vehicle configuration and the estimated boundaries.Type: GrantFiled: September 24, 2019Date of Patent: March 15, 2022Assignee: BAIDU USA LLCInventor: Yajia Zhang
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Patent number: 11260855Abstract: Methods and systems to predict object movement within a driving environment is disclosed. In one embodiment, one or more objects are detected within the driving environment. One or more predicted trajectories are computed for each of the objects based on map and route information to produce a set of predicted trajectories for the objects. The set of predicted trajectories is used to enumerate a number of combinations of predicted trajectories on which the objects possibly travel within the driving environment. A risk value is computed for each of the combinations to generate a number of corresponding risk values. An autonomous vehicle is controlled based on a combination having a lowest risk value included in the corresponding risk values.Type: GrantFiled: July 17, 2018Date of Patent: March 1, 2022Assignee: BAIDU USA LLCInventor: Yajia Zhang
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Patent number: 11136023Abstract: A moving object such as a vehicle is identified within an intersection having multiple exits. The moving object and the intersection and its exits may be identified based on sensor data obtained from various sensors mounted on an ADV. An exit coordinate map is generated based on the orientation of the moving object and a relative position of each of the exits of the intersection with respect to the current position of the moving object. For each of the exits, an exit probability of the exit that the moving object likely exits the intersection using the exit coordinate map. Thereafter, a trajectory of the ADV is planned to navigate through the intersection to avoid the collision with the moving object based on the exit probabilities of the exits of the intersection. The above process is iteratively performed for each of the moving objects detected within the proximity of the intersection.Type: GrantFiled: May 7, 2019Date of Patent: October 5, 2021Assignee: BAIDU USA LLCInventors: Hongyi Sun, Jiacheng Pan, Kecheng Xu, Yajia Zhang, Jinghao Miao
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Patent number: 11117569Abstract: A parking system for autonomous driving vehicles optimizes a solution to a parking problem. The ADV detects a parking lot and selects a parking space. The ADV defines constraints for the parking lot, parking space, and kinematic constraints of the ADV, and generates a plurality of potential parking paths to the parking space, taking into account the constraints of the parking lot, parking space, and kinematics of the ADV, but without taking into any obstacles that may be surrounding the ADV. The ADV determines a cost for traversing each of the parking paths. One or more least cost candidate paths are selected from the parking paths, then one or more candidate paths are eliminated based on obstacles surrounding the ADV. Remaining candidates can be analyzed using a quadratic optimization system. A best parking path can be selected from the remaining candidates to navigate the ADV to the parking space.Type: GrantFiled: June 27, 2018Date of Patent: September 14, 2021Assignee: BAIDU USA LLCInventors: Qi Luo, Dong Li, Yajia Zhang, Liangliang Zhang, Yifei Jiang, Jiaming Tao, Kecheng Xu, Jiangtao Hu
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Patent number: 11073834Abstract: A method of generating a path for an autonomous driving vehicle (ADV) includes obtaining a plurality of path inputs including a lateral and a longitudinal starting state, a threshold lateral jerk, and a set of static obstacle boundaries with respect to a reference line, obtaining a plurality of path constraints related to the threshold lateral jerk, avoidance of static obstacles, and a threshold lateral velocity, obtaining a cost function associated with a path objective, the cost function comprising first, second, and third terms relating to cumulative lateral distances, to cumulative first order lateral rates of change, and to cumulative second order lateral rates of change, respectively, generating a plurality of planned ADV states as path results based on the plurality of path inputs, the plurality of path constraints, and the cost function and generating control signals to control the ADV based on the plurality of planned ADV states.Type: GrantFiled: April 30, 2019Date of Patent: July 27, 2021Assignee: BAIDU USA LLCInventor: Yajia Zhang
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Patent number: 11054829Abstract: Methods and systems for multimodal motion planning framework for autonomous driving vehicles are disclosed. In one embodiment, driving environment data of an autonomous vehicle is received, where the environment data includes a route segment. The route segment is segmented into a number of route sub-segments. A specific driving scenario is assigned to each of the route sub-segments, where each specific driving scenario is included in a set of driving scenarios. A first motion planning algorithm is assigned according to a first assigned driving scenario included in the set of driving scenarios. The first motion planning algorithm is invoked to generate a first set of trajectories. The autonomous vehicle is controlled based on the first set of trajectories.Type: GrantFiled: July 17, 2018Date of Patent: July 6, 2021Assignee: BAIDU USA LLCInventors: Yajia Zhang, Dong Li, Liangliang Zhang, Kecheng Xu, Jiaming Tao, Yifei Jiang, Qi Luo, Jiangtao Hu, Jinghao Miao
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Patent number: 11048252Abstract: A method, apparatus, and system for generating an optimal path for an autonomous driving vehicle (ADV) are disclosed. The method includes receiving optimization inputs comprising an ADV starting state, a maximal lateral jerk, and static obstacle boundaries with respect to a reference line; receiving optimization constraints comprising constraints relating to the maximal lateral jerk and avoidance of one or more static obstacles; receiving a cost function associated with an optimization objective, the cost function comprising a first term relating to cumulative lateral distances, a second term relating to cumulative first order lateral rates of change, and a third term relating to cumulative second order lateral rates of change; generating planned ADV states as optimization results with nonlinear optimization, by minimizing a value of the cost function; and generating control signals to control the ADV based on the plurality of planned ADV states.Type: GrantFiled: October 19, 2018Date of Patent: June 29, 2021Assignee: BAIDU USA LLCInventors: Yajia Zhang, Kecheng Xu
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Patent number: 11013754Abstract: Provided herein are compositions and methods for treating cancer. In particular, provided herein are compositions, methods, and uses of inhibitors of ARlnc1 for treating cancer.Type: GrantFiled: April 9, 2019Date of Patent: May 25, 2021Assignee: The Regents of the University of MichiganInventors: Arul Chinnaiyan, Rohit Malik, Yajia Zhang, Marcin Cieslik, Sethuramasundaram Pitchiaya
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Patent number: 10996679Abstract: In one embodiment, a system generates a plurality of trajectory candidates for an autonomous driving vehicle (ADV) from a starting point to an end point of a particular driving scenario. The system generates a reference trajectory corresponding to the driving scenario based on a current state of the ADV associated with the starting point and an end state of the ADV associated with the end point, where the reference trajectory is associated with an objective. For each of the trajectory candidates, the system compares the trajectory candidate with the reference trajectory to generate an objective cost representing a similarity between the trajectory candidate and the reference trajectory. The system selects one of the trajectory candidates as a target trajectory for driving the ADV based on objective costs of the trajectory candidates.Type: GrantFiled: April 17, 2018Date of Patent: May 4, 2021Assignee: BAIDU USA LLCInventors: Yajia Zhang, Kecheng Xu
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Publication number: 20210086780Abstract: In one embodiment, a method of generating a path for an autonomous driving vehicle (ADV) is disclosed. The method includes obtaining vehicle configuration of the ADV. The vehicle configuration includes a longitudinal state of the ADV and a lateral state of the ADV relative to a discretized point along a reference line. The method further includes estimating one or more boundaries for the lateral state of the ADV with respect to the longitudinal state of the ADV. The estimation of the boundaries includes obtaining vehicle parameters and sensor data of the ADV, using a vehicle kinematic model to estimate the boundaries based on the vehicle parameters and the sensor data, and outputting the estimated boundaries. The method further includes generating an optimal path to control the ADV based on the vehicle configuration and the estimated boundaries.Type: ApplicationFiled: September 24, 2019Publication date: March 25, 2021Inventor: Yajia ZHANG
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Patent number: 10908613Abstract: In one embodiment, a method, apparatus, and system for planning a trajectory for an autonomous driving vehicle (ADV) is disclosed.Type: GrantFiled: October 15, 2018Date of Patent: February 2, 2021Assignee: BAIDU USA LLCInventor: Yajia Zhang
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Patent number: 10908608Abstract: 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.Type: GrantFiled: January 18, 2018Date of Patent: February 2, 2021Assignee: BAIDU USA LLCInventors: Yajia Zhang, Haoyang Fan, Liangliang Zhang, Weicheng Zhu, Qi Kong, Jingao Wang
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Publication number: 20210027629Abstract: According to one embodiment, a driving environment surrounding an ADV is perceived based on sensor data obtained from various sensors mounted on the ADV including detecting one or more obstacles. The obstacles of the detected obstacles are determined and tracked based on the perception process, where the obstacle states of the obstacles may be maintained in an obstacle state buffer associated with the obstacles. When it is detected that a first moving obstacle is blocked by an object by the sensors, the further movement of the first moving obstacle is predicted based on the prior obstacle states of the first moving obstacle, while the first moving obstacle is blocked in view by the object. A trajectory is planned for the ADV in view of the predicted movement of the first moving obstacle while the first moving obstacle is in the blind area.Type: ApplicationFiled: July 25, 2019Publication date: January 28, 2021Inventors: Jiaming Tao, Yifei Jiang, Yajia Zhang, Jiangtao Hu, Jiacheng Pan, Jinyun Zhou, Hongyi Sun
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Publication number: 20210001843Abstract: In one embodiment, an autonomous driving system of an ADV perceives a driving environment surrounding the ADV based on sensor data obtained from various sensors, including detecting one or more lanes and at least a moving obstacle or moving object. For each of the lanes identified, an NN lane feature encoder is applied to the lane information of the lane to extract a set of lane features. For a given moving obstacle, an NN obstacle feature encoder is applied to the obstacle information of the obstacle to extract a set of obstacle features. Thereafter, a lane selection predictive model is applied to the lane features of each lane and the obstacle features of the moving obstacle to predict which of the lanes the moving obstacle intends to select.Type: ApplicationFiled: July 1, 2019Publication date: January 7, 2021Inventors: Jiacheng PAN, Kecheng XU, Hongyi SUN, Yajia ZHANG, Jinghao MIAO