Search Patents
  • Time determination of an inertial navigation system in autonomous driving systems
    Patent number: 11662745
    Abstract: In one embodiment, a method for synchronizing sensor data of an autonomous driving vehicle includes determining, by a processing device of an inertial navigation system (INS), that global navigation satellite system (GNSS) data is unavailable and identifying an alternative source of time information. The method further includes retrieving time information from the alternative source and synchronizing sensor data with the time information from the alternative source of time information.
    Type: Grant
    Filed: March 26, 2020
    Date of Patent: May 30, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Quanwei Liu, Yan Cui, Zhuo Yao
  • Method and apparatus for generating information, and device for human-computer interaction
    Patent number: 11328568
    Abstract: Embodiments of the present disclosure provide a method and apparatus for generating information, a device for human-computer interaction, and a computer readable medium. The method may include: acquiring gravity sensing data of a shelf carrying an item; and identifying, in response to determining that the item on the shelf is taken based on the gravity sensing data, the taken item based on the gravity sensing data and an acquired image of the taken item, and generating order information of the taken item.
    Type: Grant
    Filed: November 5, 2019
    Date of Patent: May 10, 2022
    Assignees: Baidu.com Times Technology (Beijing) Co., Ltd., Baidu USA LLC
    Inventors: Yingze Bao, Le Kang, Yuxuan Luo
  • TRAINING OF DEPLOYED NEURAL NETWORKS
    Publication number: 20230229890
    Abstract: Embodiments presented herein facilitate improvement of a deployed neural network model's accuracy without significantly affecting its operation. In one or more embodiments, online training of the deployed model may be performed using a second neural network model that has higher accuracy than the deployed neural network model. In one or more embodiments, the second neural network model may also be improved online. Embodiments may be deployed in system, such as edge computing environments, in which neural networks deployed at the edge can be centrally monitored and updated.
    Type: Application
    Filed: December 10, 2020
    Publication date: July 20, 2023
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Haofeng KOU, Huimeng ZHENG
  • Dual inertial measurement units for inertial navigation system
    Patent number: 11592581
    Abstract: In one embodiment, a system includes a global navigation satellite system (GNSS) receiver unit, a first inertial measurement unit (IMU) and a second IMU. The system may further include a first micro-controller unit (MCU) coupled to the first IMU and the GNSS receiver unit to receive data from the first IMU and the GNSS receiver unit and a second MCU coupled to the second IMU and the GNSS receiver unit to receive data from the second IMU and the GNSS receiver unit.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: February 28, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Quanwei Liu, Zhuo Yao, Yan Cui
  • DEPTH INFORMATION PROCESSING METHOD, APPARATUS, AND STORAGE MEDIUM
    Publication number: 20220122281
    Abstract: Provided are a depth information processing method, an apparatus, and a storage medium, which relate to the field of image processing and, in particular, to computer vision, deep learning and autonomous driving. A specific implementation includes: determining intermediate depth information of a target scene according to sparse depth information of the target scene by a sub-model unit in a depth information supplementing model; and using intermediate depth information determined by a tail sub-model unit in the depth information supplementing model as dense depth information of the target scene.
    Type: Application
    Filed: December 29, 2021
    Publication date: April 21, 2022
    Applicants: Beijing Baidu Netcom Science Technology Co., Ltd., BAIDU USA LLC
    Inventors: Xibin Song, Liangjun Zhang
  • Method and apparatus for generating video
    Patent number: 10910014
    Abstract: Embodiments of the present disclosure provide a method and apparatus for generating a video. The method may include: receiving a query text inputted by a user; querying a material resource set related to the query text, material resources being images, videos, or audios; presenting the material resource set; determining a material resource sequence, in response to receiving a selecting operation and a ranking operation of the user on the material resources in the presented material resource set; and generating the video based on the material resource sequence.
    Type: Grant
    Filed: December 4, 2019
    Date of Patent: February 2, 2021
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Hao Tian, Darning Lu, Xi Chen, Jeff Chienyu Wang
  • SYSTEMS AND METHODS FOR END-TO-END DEEP REINFORCEMENT LEARNING BASED COREFERENCE RESOLUTION
    Publication number: 20210240929
    Abstract: Described herein are embodiments for end-to-end reinforcement learning based coreference resolution models to directly optimize coreference evaluation metrics. Embodiments of a reinforced policy gradient model are disclosed to incorporate reward associated with a sequence of coreference linking actions. Furthermore, maximum entropy regularization may be used for adequate exploration to prevent a model embodiment from prematurely converging to a bad local optimum. Experiments on datasets compared with state-of-the-art methods verified the effectiveness of embodiments.
    Type: Application
    Filed: July 25, 2019
    Publication date: August 5, 2021
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Hongliang FEI, Xu LI, Dingcheng LI, Ping LI
  • Automatic driving safety interaction system
    Patent number: 11586202
    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: Grant
    Filed: March 28, 2019
    Date of Patent: February 21, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO. LTD.
    Inventors: Fan Zhu, Lin Ma, Xin Xu
  • Systems and methods for end-to-end deep reinforcement learning based coreference resolution
    Patent number: 11630953
    Abstract: Described herein are embodiments for end-to-end reinforcement learning based coreference resolution models to directly optimize coreference evaluation metrics. Embodiments of a reinforced policy gradient model are disclosed to incorporate reward associated with a sequence of coreference linking actions. Furthermore, maximum entropy regularization may be used for adequate exploration to prevent a model embodiment from prematurely converging to a bad local optimum. Experiments on datasets compared with state-of-the-art methods verified the effectiveness of embodiments.
    Type: Grant
    Filed: July 25, 2019
    Date of Patent: April 18, 2023
    Assignees: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Hongliang Fei, Xu Li, Dingcheng Li, Ping Li
  • Neighbor-based point cloud filter system
    Patent number: 11835629
    Abstract: A method, apparatus, and system for filtering a point cloud generated by 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. The point cloud is filtered to remove a first set of points in the plurality of points that correspond to noise based on one or more of: point intensity measurements, distances between points, or a combination thereof. Perception data is generated based on the filtered point cloud. Operations of the autonomous vehicle are controlled based on the perception data.
    Type: Grant
    Filed: March 26, 2020
    Date of Patent: December 5, 2023
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Xiang Liu, Dongchao Gao, Bin Gao, Fan Zhu
  • Method and system for operating autonomous driving vehicles based on motion plans
    Patent number: 10459441
    Abstract: In one embodiment, autonomous driving control for an autonomous vehicle is provided by determining a first state of the autonomous vehicle from among a number of states and determining whether one or more conditions have been satisfied, based on current information and historical information of the autonomous vehicle. A next state of the autonomous vehicle and a transition of the autonomous vehicle from the first state to the next state are determined, based on the one or more conditions that are determined to have been satisfied. Based on the transition of the autonomous vehicle, one of a plurality of motion plans is selected.
    Type: Grant
    Filed: December 30, 2016
    Date of Patent: October 29, 2019
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Li Zhuang, Guang Yang, Jingao Wang
  • Pedestrian probability prediction system for autonomous vehicles
    Patent number: 11230297
    Abstract: According to some embodiments, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV. The system identifies an obstacle in motion near the ADV based on the captured image. The system predicts a location for the moving obstacle at each of a number of time points. The system generates a probability ellipse based on the predicted location at the each time point, where the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point.
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: January 25, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Lin Ma
  • Real-time map generation system for autonomous vehicles
    Patent number: 11465642
    Abstract: In one embodiment, a system receives a stream of frames of point clouds from one or more LIDAR sensors of an ADV and corresponding poses in real-time. The system extracts segment information for each frame of the stream based on geometric or spatial attributes of points in the frame, where the segment information includes one or more segments of at least a first frame corresponding to a first pose. The system registers the stream of frames based on the segment information. The system generates a first point cloud map for the stream of frames based on the frame registration.
    Type: Grant
    Filed: January 30, 2019
    Date of Patent: October 11, 2022
    Assignees: BAIDU USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Yong Xiao, Runxin He, Pengfei Yuan, Li Yu, Shiyu Song
  • Verifying timing of sensors used in autonomous driving vehicles
    Patent number: 11488389
    Abstract: In some implementations, a method of verifying operation of a sensor is provided. The method includes causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector. The method also includes determining that the detector has detected the waves at a second time. The method further includes receiving the sensor data from the sensor at a third time. The method further includes verifying operation of the sensor based on at least one of the first time, the second time, or the third time.
    Type: Grant
    Filed: August 30, 2019
    Date of Patent: November 1, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Shuai Wang, Manjiang Zhang, Yaoming Shen, Xiangfei Zhou, Lingchang Li, Xianfei Li
  • Point clouds ghosting effects detection system for autonomous driving vehicles
    Patent number: 11315317
    Abstract: In one embodiment, a system generates an occupancy grid map based on an initial frame of point clouds. The system receives one or more subsequent frames of the point clouds. For each of the subsequent frames, the system updates an occupancy grid map based on the subsequent frame. The system identifies one or more problematic voxels based on the update, the system determines whether the problematic voxels belong to a wall object, and in response to determining that the problematic voxels belong to a wall object, the system flags the problematic voxels as ghost effect voxels for the subsequent frame.
    Type: Grant
    Filed: January 30, 2019
    Date of Patent: April 26, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO. LTD.
    Inventors: Li Yu, Pengfei Yuan, Yong Xiao, Runxin He, Shiyu Song
  • Map partition system for autonomous vehicles
    Patent number: 11468690
    Abstract: In one embodiment, a system identifies a road to be navigated by an ADV, the road being captured by one or more point clouds from one or more LIDAR sensors. The system extracts road marking information of the identified road from the point clouds, the road marking information describing one or more road markings of the identified road. The system partitions the road into one or more road partitions based on the road markings. The system generates a point cloud map based on the road partitions, where the point cloud map is utilized to perceive a driving environment surrounding the ADV.
    Type: Grant
    Filed: January 30, 2019
    Date of Patent: October 11, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO. LTD.
    Inventors: Pengfei Yuan, Yong Xiao, Runxin He, Li Yu, Shiyu Song
  • Pedestrian interaction system for low speed scenes for autonomous vehicles
    Patent number: 11117597
    Abstract: In one embodiment, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV, where the captured image identifies an obstacle in motion near the ADV. The system generates a feasible area surrounding the moving obstacle based on a projection of the moving obstacle. If the ADV is within the feasible area, the system determines an upper bound velocity limit for the ADV. The system generates a trajectory having a trajectory velocity less than the upper bound velocity limit to control the ADV autonomously according to the trajectory such that if the ADV is within the feasible area the ADV is to decelerate.
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: September 14, 2021
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Fan Zhu, Lin Ma
  • Pull over method based on quadratic programming for path planning
    Patent number: 11529969
    Abstract: In response to a request to pull over an ADV at a destination point at a side of a lane, a path including a first segment, a second segment and a transition point is planned. The transition point is determined based on at least one of a distance to the destination point or a predetermined distance to a boundary of the side of the lane. The first segment from a start point to the transition point is generated by using a quadratic programming (QP) operation. The second segment from the transition point to the destination is generated based on a shape of the boundary. The ADV is controlled to pull over to the destination point according to the planned path.
    Type: Grant
    Filed: April 10, 2020
    Date of Patent: December 20, 2022
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Dongchun Yao, Fan Zhu, Leibing Lv, Xin Xu, Ning Yu
  • DEEP RESIDUAL NETWORK FOR COLOR FILTER ARRAY IMAGE DENOISING
    Publication number: 20210241429
    Abstract: Described herein are embodiments of a deep residual network dedicated to color filter array mosaic patterns. A mosaic stride convolution layer is introduced to match the mosaic pattern of a multispectral filter arrays (MSFA) or a color filter array raw image. Embodiments of a data augmentation using MSFA shifting and dynamic noise are applied to make the model robust to different noise levels. Embodiments of network optimization criteria may be created by using the noise standard deviation to normalize the L1 loss function. Comprehensive experiments demonstrate that embodiments of the disclosed deep residual network outperform the state-of-the-art denoising algorithms in MSFA field.
    Type: Application
    Filed: January 23, 2020
    Publication date: August 5, 2021
    Applicants: Baidu USA LLC, Baidu.com Times Technology (Beijing) Co., Ltd.
    Inventors: Zhihong PAN, Baopu LI, Hsuchun CHENG, Yingze BAO
  • Method and apparatus for updating information
    Patent number: 11348465
    Abstract: Embodiments of the present disclosure relate to a method and apparatus for updating information. The method may include: acquiring road network structure information of a target road network and vehicle information of a target number of vehicles in the target road network, the vehicle information including initial state information, perception information and positioning information, and the vehicle information being constrained by the road network structure information; selecting a target vehicle from the target number of vehicles; determining, based on a vehicle dynamics model, a reference speed at which the target vehicle passes a preset time step; and updating vehicle information of a vehicle in the target road network based on the reference speed of the target vehicle.
    Type: Grant
    Filed: June 9, 2020
    Date of Patent: May 31, 2022
    Assignees: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD., BAIDU USA LLC
    Inventors: He Jiang, Jinxin Zhao, Ruigang Yang
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