Search Patents
  • SYSTEMS AND METHODS FOR ROBUST SELF-RELOCALIZATION IN A PRE-BUILT VISUAL MAP
    Publication number: 20200309534
    Abstract: Described herein are systems and methods that improve the success rate of relocalization and eliminate the ambiguity of false relocalization by exploiting motions of the sensor system. In one or more embodiments, during a relocalization process, a snapshot is taken using one or more visual sensors and a single-shot relocalization in a visual map is implemented to establish candidate hypotheses. In one or more embodiments, the sensors move in the environment, with a movement trajectory tracked, to capture visual representations of the environment in one or more new poses. As the visual sensors move, the relocalization system tracks various estimated localization hypotheses and removes false ones until one winning hypothesis. Once the process is finished, the relocalization system outputs a localization result with respect to the visual map.
    Type: Application
    Filed: June 29, 2018
    Publication date: October 1, 2020
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Mingyu CHEN, Yingze BAO, Xin ZHOU, Haomin LIU
  • Enumeration-based three-point turn planning for autonomous driving vehicles
    Patent number: 11247700
    Abstract: According to one embodiment, in response to a request for a three-point turn, a set of forward turning paths is generated based on a maximum forward turning angle associated with an ADV. A set of backward tuning paths is generated based on a maximum backward turning angle associated with the ADV. A set of three-point turn path candidates is generated based on the forward turning paths and the backward turning paths. For each of the three-point turn path candidates, a path cost is calculated using a predetermined cost function. One of the three-point turn path candidates with the lowest path cost is selected as the final three-point turn path to drive the ADV to make a three-point turn.
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: February 15, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Lin Ma
  • Method for determining passable area in planning a path of autonomous driving vehicles
    Patent number: 11442450
    Abstract: According to one embodiment, in response to determining that an obstacle blocks at least a portion of a current lane in which an ADV is driving, an obstacle boundary of the obstacle is determined based on the size and shape of the obstacle. A lane configuration is determined based on map data of a map corresponding to a road associated with the lanes. A passing lane boundary that can be utilized by the ADV is determined based on the lane configuration of the road and the obstacle boundary of the obstacle. A passable area is calculated within the passing lane boundary based on a size of the ADV. The passable area is utilized by the ADV to pass the obstacle without collision. Thereafter, a trajectory is planned within the passable area boundary to control the ADV to pass the obstacle.
    Type: Grant
    Filed: December 11, 2019
    Date of Patent: September 13, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Dongchun Yao, Fan Zhu, Leibing Lv, Xin Xu, Ning Yu
  • Stereo camera depth determination using hardware accelerator
    Patent number: 11182917
    Abstract: Described herein are systems and methods that allow for dense depth map estimation given input images. In one or more embodiments, a neural network model was developed that significantly differs from prior approaches. Embodiments of the deep neural network model comprises more computationally efficient structures and fewer layers but still produces good quality results. Also, in one or more embodiments, the deep neural network model may be specially configured and trained to operate using a hardware accelerator component or components that can speed computation and produce good results, even if lower precision bit representations are used during computation at the hardware accelerator component.
    Type: Grant
    Filed: December 8, 2017
    Date of Patent: November 23, 2021
    Assignees: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Le Kang, Yupeng Li, Wei Qi, Yingze Bao
  • LiDAR localization using 3D CNN network for solution inference in autonomous driving vehicles
    Patent number: 11531110
    Abstract: In one embodiment, a method for solution inference using neural networks in LiDAR localization includes constructing a cost volume in a solution space for a predicted pose of an autonomous driving vehicle (ADV), the cost volume including a number of sub volumes, each sub volume representing a matching cost between a keypoint from an online point cloud and a corresponding keypoint on a pre-built point cloud map. The method further includes regularizing the cost volume using convention neural networks (CNNs) to refine the matching costs; and inferring, from the regularized cost volume, an optimal offset of the predicted pose. The optimal offset can be used to determine a location of the ADV.
    Type: Grant
    Filed: January 30, 2019
    Date of Patent: December 20, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO. LTD.
    Inventors: Weixin Lu, Yao Zhou, Guowei Wan, Shenhua Hou, Shiyu Song
  • Point cloud feature-based obstacle filter system
    Patent number: 11609333
    Abstract: A method, apparatus, and system for filtering obstacle candidates determined based on outputs of a LIDAR device in an autonomous vehicle is disclosed. A point cloud comprising a plurality of points is generated based on outputs of the LIDAR device. One or more obstacle candidates are determined based on the point cloud. The one or more obstacle candidates are filtered to remove a first set of obstacle candidates in the one or more obstacle candidates that correspond to noise based at least in part on characteristics associated with points that correspond to each of the one or more obstacle candidates. One or more recognized obstacles comprising the obstacle candidates that have not been removed are determined. Operations of an autonomous vehicle are controlled based on the recognized obstacles.
    Type: Grant
    Filed: March 26, 2020
    Date of Patent: March 21, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD
    Inventors: Xiang Liu, Dongchao Gao, Fan Zhu
  • Method and system for protecting data processed by data processing accelerators
    Patent number: 11609766
    Abstract: According to one embodiment, a data processing system performs a secure boot using a security module (e.g., a trusted platform module (TPM)) of a host system. The system verifies that an operating system (OS) and one or more drivers including an accelerator driver associated with a data processing (DP) accelerator is provided by a trusted source. The system launches the accelerator driver within the OS. The system generates a trusted execution environment (TEE) associated with one or more processors of the host system. The system launches an application and a runtime library within the TEE, where the application communicates with the DP accelerator via the runtime library and the accelerator driver.
    Type: Grant
    Filed: January 4, 2019
    Date of Patent: March 21, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD., KUNLUNXIN TECHNOLOGY (BEIJING) COMPANY LIMITED
    Inventors: Yueqiang Cheng, Yong Liu, Tao Wei, Jian Ouyang
  • Trajectory planning with obstacle avoidance for autonomous driving vehicles
    Patent number: 11878712
    Abstract: A computer-implement method for operating an ADV is disclosed. A first trajectory for the ADV to drive along is planned. The ADV is to autonomously drive along the first trajectory. An obstacle in an affected region of the ADV is detected based on sensor data obtained from a plurality of sensors mounted on the ADV. An expected residence time of the obstacle in the affected region is determined. Whether to plan a second trajectory or to wait for the obstacle to leave the affected region is determined based on the expected residence time of the obstacle in the affected region. A second trajectory for the ADV to drive along is planned and the ADV is to autonomously drive along the second trajectory, or the ADV is to wait for the obstacle to leave the affected region and to autonomously drive along the first trajectory afterwards.
    Type: Grant
    Filed: February 26, 2020
    Date of Patent: January 23, 2024
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD
    Inventors: Ning Yu, Fan Zhu, Jingjing Xue
  • Post collision analysis-based vehicle action optimization for autonomous driving vehicles
    Patent number: 10549749
    Abstract: It is determined an ADV is inevitable to collide with at least one of the objects surrounding the ADV based on the relative positions and speeds between the ADV and the objects in view of the physical dimensions of the ADV. An object may be another vehicle, a pedestrian, a bicycle, a static obstacle. For each of the objects, a collision cost between the ADV and the object is calculated using a set of one or more cost functions or cost algorithms. A collision cost represents an amount of potential damage if the collision is to occur. One of the objects is selected whose collision cost is the least amongst the objects. A path or trajectory is planned for the ADV leading or towards to the selected object to minimize the potential damage when the ADV potentially collide with the selected object compared to the remaining objects.
    Type: Grant
    Filed: March 8, 2018
    Date of Patent: February 4, 2020
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Qi Kong, Hui Jiang
  • Fail-safe handling system for autonomous driving vehicle
    Patent number: 11724708
    Abstract: According to various embodiment, described herein are methods and systems for reliably detecting malfunctions in a variety of software or hardware components in an autonomous driving vehicle (ADV). In one embodiment, a redundant system can be provided on an independent computing device in an ADV to check for malfunctions in a number of software or hardware components. When no malfunction occurs in the ADV, an autonomous driving system (ADS) in the ADV operates to drive the ADV, while the redundant system can monitor the ADS in a standby mode. In the event of a malfunction, the redundant system can take over the control of the ADV, and take appropriate actions based on a severity level of the malfunction.
    Type: Grant
    Filed: June 12, 2020
    Date of Patent: August 15, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Guohao Gong, Fan Zhu, Yue Wang, Xin Xu, Xiang Liu, Yongyi Sun, Yingnan Liu, Junping Wang, Jingjing Xue
  • Method and system for generating reference lines for autonomous driving vehicles
    Patent number: 11360483
    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: Grant
    Filed: December 26, 2018
    Date of Patent: June 14, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Xin Xu, Fan Zhu, Lin Ma
  • LEARNING INTERPRETABLE RELATIONSHIPS BETWEEN ENTITIES, RELATIONS, AND CONCEPTS VIA BAYESIAN STRUCTURE LEARNING ON OPEN DOMAIN FACTS
    Publication number: 20210390464
    Abstract: Concept graphs are created as universal taxonomies for text understanding in the open domain knowledge. The nodes in concept graphs include both entities and concepts. The edges are from entities to concepts, showing that an entity is an instance of a concept. Presented herein are embodiments that handle the task of learning interpretable relationships from open domain facts to enrich and refine concept graphs. In one or more embodiments, the Bayesian network structures are learned from open domain facts as the interpretable relationships between relations of facts and concepts of entities. Extensive experiments were conducted on English and Chinese datasets. Compared to the state-of-the-art methods, the learned network structures improve the identification of concepts for entities based on the relations of entities on both English and Chinese datasets.
    Type: Application
    Filed: June 16, 2020
    Publication date: December 16, 2021
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Jingyuan ZHANG, Mingming SUN, Ping LI
  • Method and system for managing memory of data processing accelerators
    Patent number: 11693970
    Abstract: According to one embodiment, a system performs a secure boot using a security module such as a trusted platform module (TPM) of a host system. The system establishes a trusted execution environment (TEE) associated with one or more processors of the host system. The system launches a memory manager within the TEE, where the memory manager is configured to manage memory resources of a data processing (DP) accelerator coupled to the host system over a bus, including maintaining memory usage information of global memory of the DP accelerator. In response to a request received from an application running within the TEE for accessing a memory location of the DP accelerator, the system allows or denies the request based on the memory usage information.
    Type: Grant
    Filed: January 4, 2019
    Date of Patent: July 4, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD., KUNLUNXIN TECHNOLOGY (BEIIING) COMPANY LIMITED
    Inventors: Yong Liu, Yueqiang Cheng, Jian Ouyang, Tao Wei
  • Camera-based low-cost lateral position calibration method for level-3 autonomous vehicles
    Patent number: 11180140
    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: Grant
    Filed: March 28, 2019
    Date of Patent: November 23, 2021
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Xin Xu, Fan Zhu, Lin Ma
  • BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
    Publication number: 20230169680
    Abstract: A positioning method, a method for generating a visual map and an apparatus thereof includes: obtaining a current parking space number corresponding to a parking space image; obtaining a three-dimensional (3D) coordinate and a 3D pose of the current parking space number under a world coordinate system based on the current parking space number and a visual map, in which the visual map is generated based on current parking space numbers; obtaining a first conversion matrix from a camera coordinate system to a current parking space number coordinate system, in which the current parking space number coordinate system is generated based on the current parking space number; and determining a 3D coordinate and a 3D pose of a camera under the world coordinate system based on the first conversion matrix and the 3D coordinate and 3D pose of the current parking space number.
    Type: Application
    Filed: November 22, 2022
    Publication date: June 1, 2023
    Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
    Inventors: Chenxu Zhao, Zhihao Wang
  • Detector for point cloud fusion
    Patent number: 11726212
    Abstract: A method, apparatus, and system for determining whether all extrinsic matrices are accurate is disclosed. A plurality of post-LIDAR fusion point clouds that are based on simultaneous outputs from a plurality of LIDAR devices installed at one ADV are obtained. The obtained plurality of point clouds are filtered to obtain a first set of points comprising all points in the plurality of point clouds that fall within a region of interest. Each point in the first set of points corresponds to one coordinate value on the axis in the up-down direction. A distribution of the first plurality of coordinate values is obtained. A quantity of peaks in the distribution of the first plurality of coordinate values is determined. Whether all extrinsic matrices associated with the plurality of LIDAR devices are accurate is determined based on the quantity of peaks in the distribution of the first plurality of coordinate values.
    Type: Grant
    Filed: May 15, 2020
    Date of Patent: August 15, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD
    Inventors: Xiang Liu, Shuang Zhang, Bin Gao, Dongchao Gao, Fan Zhu
  • Feedback based real time steering calibration system
    Patent number: 11713057
    Abstract: A lateral control error of a steering system of an ADV is determined, which includes iteratively performing following operations for a predetermined time period. Whether the ADV is moving within a predetermined proximity of a current moving direction is determined. Next, whether a road condition of a road on which the ADV is driving satisfies a predetermined road condition is determined. Then, a first steering feedback of the ADV in response to a prior steering control command is measured. Thereafter, the lateral control error is determined based on at least a portion of the first steering feedback over the predetermined time period. Further, a steering command in view of the lateral control error of the steering system is generated. Finally, the steering command is applied to control the ADV to compensate the lateral control error of the steering system.
    Type: Grant
    Filed: January 23, 2020
    Date of Patent: August 1, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Bei Liu, Xin Xu, Lin Ma
  • Systems and methods for robust self-relocalization in a visual map
    Patent number: 11788845
    Abstract: Described herein are systems and methods that improve the success rate of relocalization and eliminate the ambiguity of false relocalization by exploiting motions of the sensor system. In one or more embodiments, during a relocalization process, a snapshot is taken using one or more visual sensors and a single-shot relocalization in a visual map is implemented to establish candidate hypotheses. In one or more embodiments, the sensors move in the environment, with a movement trajectory tracked, to capture visual representations of the environment in one or more new poses. As the visual sensors move, the relocalization system tracks various estimated localization hypotheses and removes false ones until one winning hypothesis. Once the process is finished, the relocalization system outputs a localization result with respect to the visual map.
    Type: Grant
    Filed: June 29, 2018
    Date of Patent: October 17, 2023
    Assignees: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Mingyu Chen, Yingze Bao, Xin Zhou, Haomin Liu
  • Automatic steering control reference adaption to resolve understeering of autonomous driving vehicles
    Patent number: 10421463
    Abstract: In one embodiment, a request is received to turn the autonomous driving vehicle (ADV) from a first direction to a second direction. In response to the request, a number of segment masses of a number of segments of the ADV are determined. The segment masses are located on a plurality of predetermined locations within a vehicle platform of the ADV. A location of a mass center for an entire ADV is calculated based on the segment masses of the segments of the ADV, where the mass center represents a center of an entire mass of the entire ADV. A steering control command based on the location of the mass center of the entire ADV for steering control of the ADV.
    Type: Grant
    Filed: March 10, 2017
    Date of Patent: September 24, 2019
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Qi Luo, Qi Kong, Fan Zhu, Sen Hu, Xiang Yu, Zhenguang Zhu, Yuchang Pan, Jiarui He, Haoyang Fan, Guang Yang, Jingao Wang
  • Method and system for validating kernel objects to be executed by a data processing accelerator of a host system
    Patent number: 11392687
    Abstract: According to one embodiment, a system receives, at a runtime library executed within a trusted execution environment (TEE) of a host system, a request from an application to invoke a predetermined function to perform a predefined operation. In response to the request, the system identifies a kernel object associated with the predetermined function. The system verifies an executable image of the kernel object using a public key corresponding to a private key that was used to sign the executable image of the kernel object. In response to successfully the system verifies the executable image of the kernel object, transmitting the verified executable image of the kernel object to a data processing (DP) accelerator over a bus to be executed by the DP accelerator to perform the predefined operation.
    Type: Grant
    Filed: January 4, 2019
    Date of Patent: July 19, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD., KUNLUNXIN TECHNOLOGY (BEIJING) COMPANY LIMITED
    Inventors: Yueqiang Cheng, Yong Liu, Tao Wei, Jian Ouyang
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