公开(公告)号：US12214800B2

公开(公告)日：2025-02-04

申请号：US17975689

申请日：2022-10-28

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Wei Gao ,  Wendong Ding ,  Guowei Wan ,  Liang Peng

IPC: B60W60/00 ,  B60K35/00 ,  B60W40/10 ,  B60W50/00 ,  G01S7/48 ,  G01S17/86 ,  G01S17/89 ,  G06T7/50 ,  G06T7/73

Abstract: A method of processing data for an autonomous vehicle, an electronic device, a storage medium, and an autonomous vehicle are provided. The method includes: acquiring sensor data for the autonomous vehicle, wherein the sensor data includes inertial measurement data, LiDAR data, and visual image data; determining a first constraint factor for the inertial measurement data according to the inertial measurement data and the visual image data; determining a second constraint factor for the LiDAR data according to the inertial measurement data and the LiDAR data; determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data and the LiDAR data; and processing the sensor data based on the first constraint factor, the second constraint factor and the third constraint factor, so as to obtain positioning data for positioning the autonomous vehicle.

公开(公告)号：US20240425085A1

公开(公告)日：2024-12-26

申请号：US18826345

申请日：2024-09-06

Applicant: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： Xiaoqing YE ,  Jizhou HUANG ,  Fan WANG

IPC: B60W60/00 ,  G06V20/58

Abstract: A computer-implemented method for content generation is provided. The method includes obtaining first visual data at a specific moment and first control data for controlling content generation, the first visual data including information associated with an environment where a target object is located at the specific moment. The method further includes generating a first feature vector associated with the first visual data. The method further includes generating, based on the first feature vector, a second feature vector under the control of the first control data, the second feature vector including information that characterizes a behavior of the target object in the environment at a subsequent moment after the specific moment.

公开(公告)号：US12174828B2

公开(公告)日：2024-12-24

申请号：US18111930

申请日：2023-02-21

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Hongxiang Tang

IPC: G06F17/30 ,  G06F16/2453 ,  G06F16/2455 ,  G06F16/28 ,  G07C5/00

Abstract: The present disclosure provides a driving data processing method, an apparatus, a device, an automatic driving vehicle, a medium and a product, including: collecting first driving data generated by using a target structure in a driving system of a target vehicle, where the first driving data uses a binary number system; determining a target descriptor corresponding to the target structure, where the target descriptor is used to describe member information of the target structure; parsing the target descriptor to obtain at least one piece of member information of the target structure; parsing the first driving data according to the at least one piece of the member information to obtain target data corresponding to each of the at least one piece of the member information; and performing a data processing operation based on the target data corresponding to each of the at least one piece of the member information.

公开(公告)号：US12154423B2

公开(公告)日：2024-11-26

申请号：US17891802

申请日：2022-08-19

Applicant: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： Changsen Chu ,  Jia Song

IPC: G08B21/00 ,  G06V20/58 ,  G06V30/14 ,  G08B21/24 ,  H04W4/02

Abstract: A computer-implemented method for assisted parking, an electronic device, and a storage medium are provided. The method for assisted parking includes: obtaining a set of images around a vehicle; determining environment information for the vehicle based on the set of images; obtaining location information associated with a target parking location according to the environment information; and sending the location information to provide such to a user terminal.

公开(公告)号：US20240227844A1

公开(公告)日：2024-07-11

申请号：US18000206

申请日：2022-09-05

Applicant: Baidu USA LLC ,  APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： Guoli SHU ,  Kedong XU

IPC: B60W60/00 ,  H04L49/351

CPC classification number: B60W60/001 ,  H04L49/351

Abstract: In an embodiment, an autonomous driving vehicle (ADV) processes a set of sensor data concurrently by both a first computing unit and a second computing unit, wherein the set of sensor data is generated by a sensor. The first computing unit formats the set of sensor data into a set of message data. The second computing unit determines whether the set of sensor data indicates a control path fault. The second computing unit reports the control path fault responsive to determining that the set of sensor data indicates the control path fault.

公开(公告)号：US12022237B2

公开(公告)日：2024-06-25

申请号：US17024137

申请日：2020-09-17

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Jiayue Hu

IPC: H04N7/18 ,  B60W60/00 ,  G01S13/86 ,  G05D1/00 ,  G06N3/08 ,  G06V10/764 ,  G06V10/80 ,  G06V10/82 ,  G06V20/40 ,  G06V20/56

CPC classification number: H04N7/183 ,  B60W60/001 ,  G01S13/867 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G06N3/08 ,  G06V10/764 ,  G06V10/80 ,  G06V10/82 ,  G06V20/40 ,  G06V20/56 ,  H04N7/185 ,  B60W2420/403 ,  B60W2420/408

Abstract: Embodiments of the present disclosure provide a vehicle-mounted control unit, and a method and an apparatus for FPGA based automatic driving of a vehicle, which includes a MCU and a first SoC implemented by being integrated with an ARM through the FPGA, where the vehicle-mounted control unit is set on an automatic driving vehicle, the FPGA of the first SoC receives video data sent by a vehicle-mounted camera, performs visual perception on the video data by using a first neural network algorithm to obtain first perception information; and sends the first perception information to the ARM of the first SoC. The ARM of the first SoC processes the first perception information to obtain first decision information, and sends the first decision information to the MCU. Finally, the MCU generates a control command according to the first decision information and sends it to the corresponding execution mechanism.

公开(公告)号：US11912291B2

公开(公告)日：2024-02-27

申请号：US16917147

申请日：2020-06-30

Applicant: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： Lijun Ju ,  Chengfa Wang ,  Junping Wang ,  Fan Yang

IPC: B60W50/029 ,  B60W60/00 ,  G06F1/26 ,  G07C5/08 ,  H04W4/40 ,  G06F21/60 ,  H04W88/16

CPC classification number: B60W50/029 ,  B60W60/0023 ,  G07C5/085 ,  H04W4/40 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2555/20 ,  G06F1/26 ,  G06F21/606 ,  H04W88/16

Abstract: Embodiments of the present disclosure relate to an autonomous vehicle and a system for the autonomous vehicle. The system may include: a power supply including a first power output and a second power output; a master computing unit arranged to be powered by the first power output, configured to control operations of the autonomous vehicle in response to detecting the second power output, and configured to provide a third power output by adjusting the first power output; and a slave computing unit arranged to be powered by the second power output, and configured to control the operations of the autonomous vehicle in response to detecting a failure of the master computing unit.

公开(公告)号：US11789455B2

公开(公告)日：2023-10-17

申请号：US17137048

申请日：2020-12-29

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Wendong Ding ,  Xiaofei Rui ,  Gang Wang ,  Shiyu Song

IPC: G05D1/02 ,  B60W60/00 ,  G06V20/56 ,  G06F18/25

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.

公开(公告)号：US11769260B2

公开(公告)日：2023-09-26

申请号：US17545697

申请日：2021-12-08

Applicant: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： Guo Li ,  Han Gao ,  Xun Sun ,  Jun Wang

IPC: G06K9/00 ,  G06T7/292 ,  B60R1/00 ,  G06V20/58 ,  H04N23/695

CPC classification number: G06T7/292 ,  B60R1/00 ,  G06V20/58 ,  H04N23/695 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/8093

Abstract: Embodiments of the present provide a cross-camera obstacle tracking method, system and medium. The method includes: obtaining obstacle tracking results of images captured by at least two cameras, wherein each obstacle tracking result comprises results after identifying and tracking at least one obstacle in the image captured by each camera, and each obstacle is labeled with a local identifier for each camera; in response to a triggering condition of a main camera in the cameras to fusion of cross-camera obstacles being satisfied, establishing a mapping relation between local identifiers of the obstacles in the cameras and global identifiers according to the obstacle tracking result of each of the cameras; determining similarities of obstacles according to the obstacle tracking result of each of the cameras, and performing fusion of the global identifiers on the same obstacle according to the similarities; and obtaining final obstacle tracking results labeled with the global identifiers.

公开(公告)号：US20230294684A1

公开(公告)日：2023-09-21

申请号：US18199525

申请日：2023-05-19

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Huangrong YANG ,  Mengqi XIE ,  Lin MA ,  Zhongpu XIA

IPC: B60W30/09 ,  B60W30/18 ,  B60W30/095 ,  B60W60/00

CPC classification number: B60W30/09 ,  B60W30/18163 ,  B60W30/0953 ,  B60W30/0956 ,  B60W60/0015 ,  B60W2554/80 ,  B60W2554/4044

Abstract: A method of controlling an autonomous vehicle, an electronic device, and a storage medium, which relate to fields of an artificial intelligence, autonomous driving, intelligent transportation, high-definition maps, cloud services, and Internet of Vehicles technologies. The method includes determining, in response to an obstacle avoidance instruction being received, an obstacle avoidance strategy in lane changing according to first obstacle data of a target obstacle, the obstacle avoidance instruction being generated in response to determining that a first relationship between the target obstacle and a vehicle meets a predetermined collision condition, and the first relationship being generated based on the first obstacle data and first vehicle data of the vehicle; controlling the vehicle to travel according to the obstacle avoidance strategy; and updating a planned path for lane changing in response to a risk relief instruction being received, so that the vehicle travels according to the updated planned path.