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公开(公告)号：US11624827B2
公开(公告)日：2023-04-11
申请号：US16459687
申请日：2019-07-02
Inventor： Li Yu , Shiyu Song , Fangfang Dong
Abstract: A method and an apparatus for generating a high precision map, and a storage medium for generating a high precision map. The method includes: performing a point cloud splicing process on target point cloud data to obtain a lidar pose corresponding to the target point cloud data; projecting the target point cloud data into a preset two-dimensional area based on the lidar pose to generate a map based on a reflection value and a height value; performing a self-positioning verification on the map based on the reflection value and the height value using the target point cloud data; and integrating, if a result of the self-positioning verification satisfies a preset condition, the map based on the reflection value and the height value into a reference map to generate the high precision map.
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公开(公告)号：US11328401B2
公开(公告)日：2022-05-10
申请号：US16517782
申请日：2019-07-22
Inventor： Weixin Lu , Shiyu Song , Fangfang Dong , Shengpan Xu
Abstract: A stationary object detecting method, a stationary object apparatus, and an electronic device are disclosed in embodiments of the present disclosure, the method includes: obtaining point cloud data of a scene and feature information of each of data points in the point cloud data; performing a triangulation network connection on each of the data points in the point cloud data to generate a triangular network model, and taking a picture of the triangular network model using a preset camera to obtain an image; obtaining a first data point corresponding to each pixel point in the image, and obtaining a feature map of the point cloud data according to feature information of each first data point; inputting the feature map into a classification model to obtain data points corresponding to the stationary object in the point cloud data.
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Patent Agency Ranking
公开(公告)号：US11789455B2
公开(公告)日：2023-10-17
申请号：US17137048
申请日：2020-12-29
Inventor： Wendong Ding , Xiaofei Rui , Gang Wang , Shiyu Song
CPC classification number: G05D1/0246 , B60W60/001 , G06F18/25 , G06V20/56 , B60W2420/403 , B60W2422/70 , B60W2520/28
Abstract: Embodiments of the present application disclose a positioning method and apparatus, an autonomous driving vehicle, an electronic device and a storage medium, relating to the field of autonomous driving technologies, comprising: collecting first pose information measured by an inertial measurement unit within a preset time period, and collecting second pose information measured by a wheel tachometer within the time period; generating positioning information according to the first pose information, the second pose information and the adjacent frame images; controlling driving of the autonomous driving vehicle according to the positioning information. The positioning information is estimated by combining the first pose information and the second pose information corresponding to the inertial measurement unit and the wheel tachometer respectively. Compared with the camera, the inertial measurement unit and the wheel tachometer are not prone to be interfered by the external environment.
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公开(公告)号：US11720118B2
公开(公告)日：2023-08-08
申请号：US16914699
申请日：2020-06-29
Inventor： Fan Yang , Shiyu Song , Shuang Zhang
CPC classification number: G05D1/0274 , G01C21/3833 , G01C21/3848 , G05D1/0011 , G05D1/0223 , G05D1/0276 , G05D2201/0213
Abstract: The embodiments provide a method for unmanned vehicle cruising, an unmanned vehicle and a storage medium, the method includes: in a state that a slow cruising function is started, cruising according to a preset cruising mode, and collecting running data through a sensing device, where the running data is data of an environment in which a vehicle locates, collected by the vehicle during a running process; and generating a map based on the collected running data. The embodiments of the present disclosure solve the problem that an unmanned vehicle in the prior art cannot update a map in time and, in particular, cannot develop a more suitable map according to different surrounding environments.
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公开(公告)号：US11725944B2
公开(公告)日：2023-08-15
申请号：US16806331
申请日：2020-03-02
Inventor： Shenhua Hou , Wendong Ding , Hang Gao , Guowei Wan , Shiyu Song
CPC classification number: G01C21/165 , G01C21/1652 , G01C21/30 , G01C21/3804 , G01S17/06 , G01S17/89
Abstract: The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains inertial measurement data of a device to be positioned at a current time and point cloud data collected by a LiDAR on the device at the current time; determines, by integrating the inertial measurement data, inertial positioning information of the device in an inertial coordinate system at the current time; and determines, based on the inertial positioning information, the point cloud data and at least one local map built in a local coordinate system, a positioning result of the device in the local coordinate system at the current time. Techniques of the present disclosure can provide an effective and stable local positioning result.
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公开(公告)号：US11619939B2
公开(公告)日：2023-04-04
申请号：US16708527
申请日：2019-12-10
Inventor： Fan Yang , Xiaoxing Zhu , Shiyu Song , Zhijie Wang
Abstract: The present application provides a self-driving vehicle positioning method, an apparatus and a storage medium, where the method includes: obtaining reference data, where the reference data includes: state information and running path information of at least one traffic participant within a preset distance from a self-driving vehicle, and updating positioning information of the self-driving vehicle according to the reference data. In the technical solutions, when a GPS signal is weak, the self-driving vehicle can also update the positioning information in time, thereby ensuring driving safety of the self-driving vehicle, and solving a driving safety problem existing in the self-driving vehicle of the prior art.
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7.发明授权公开(公告)号：US11619516B2
公开(公告)日：2023-04-04
申请号：US16708503
申请日：2019-12-10
Inventor： Fan Yang , Xiaoxing Zhu , Zhijie Wang , Shiyu Song
IPC: G01C21/00 , G05D1/02 , G01C21/34 , G06F16/29 , G06F16/23 , G06V10/98 , G06V20/56 , G06K9/62 , H04L67/12
Abstract: The present application provides a method for detecting map error information, an apparatus, a device, a vehicle and a storage medium, where the method includes: acquiring current environmental feature information around a vehicle; and detecting, according to the current environmental feature information and map data, whether the map data is erroneous. Whether the map data is erroneous is detected in real time based on the current environmental feature information during the process of the actual traveling of the vehicle, which improves timeliness and efficiency for the map error detection, thereby the map data can be corrected in time and the traveling safety of the vehicle may be improved.
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