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公开(公告)号：US11579307B2
公开(公告)日：2023-02-14
申请号：US16915541
申请日：2020-06-29
Inventor： Shuang Zhang , Xiang Liu , Bin Gao , Xiaoxing Zhu , Jingjing Xue , Fan Yang , Junping Wang , Chengfa Wang
IPC: G01S17/931 , G01S7/48 , G01S17/89
Abstract: Embodiments of the present disclosure provide a method and apparatus for detecting an obstacle. The method may include: acquiring first point cloud data collected by a first vehicle-mounted laser radar and second point cloud data collected by a second vehicle-mounted laser radar, where a height of the first vehicle-mounted laser radar from a ground is greater than a height of the second vehicle-mounted laser radar from the ground, and a number of wiring harnesses of the first vehicle-mounted laser radar is greater than a number of wiring harnesses of the second vehicle-mounted laser radar; performing ground estimation based on the first point cloud data; filtering out a ground point in the second point cloud data according to the ground estimation result of the first point cloud data; and performing obstacle detection based on the second point cloud data after the ground point is filtered out.
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公开(公告)号：US11328518B2
公开(公告)日：2022-05-10
申请号：US16912352
申请日：2020-06-25
Inventor： Xiang Liu , Shuang Zhang , Bin Gao , Xiaoxing Zhu , Jingjing Xue , Fan Yang , Junping Wang , Chengfa Wang
Abstract: Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method may include: acquiring point cloud data and image data collected by a vehicle during a driving process; determining a plurality of time thresholds based on a preset time threshold value range; executing following processing for each time threshold: identifying obstacles included in each point cloud frame and each image frame respectively; determining a similarity between the obstacles; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine the number of obstacles; and determining, based on a plurality of numbers, and outputting a target time threshold.
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公开(公告)号：US11535265B2
公开(公告)日：2022-12-27
申请号：US16708560
申请日：2019-12-10
Inventor： Fan Yang , Yunlong Li , Chen Chen , Rongxun Jing
IPC: B60W50/02 , G06K9/62 , B60W30/18 , B60W50/038
Abstract: The present application provides a point cloud data processing method, an apparatus, a device, a vehicle, and a storage medium, the method includes: acquiring, according to a preset frequency, raw data collected by sensors on a vehicle; and performing, according to the raw data of the sensors, data fusion processing to obtain a fusion result. By acquiring, according to the preset frequency, the raw data collected by the sensors on the vehicle in a latest period, and performing the data fusion processing to obtain the fusion result, a synchronous clock source may be removed, a weak clock synchronization may be realized, and the cost may be effectively reduced. The preset frequency may be flexibly set, which, when set with a larger value, can reduce a time difference between the raw data of the sensors and improve data accuracy.
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公开(公告)号：US11840259B2
公开(公告)日：2023-12-12
申请号：US17119662
申请日：2020-12-11
Inventor： Ning Yu , Fan Yang , Jiming Mao
CPC classification number: B60W60/0027 , B60W40/02 , G06T19/20 , B60W2554/402 , B60W2554/4041 , B60W2554/4046
Abstract: A method for simulating an obstacle in an unmanned simulation scene includes: for obstacle information in a three-dimensional scene map, determining Gaussian distribution information of obstacle position detected by using a perception algorithm to be tested based on actual perception performance of the perception algorithm; adjusting each position of the simulated obstacle in the initial motion trajectory sequence, such that a position deviation between each adjusted position point in the target motion trajectory sequence and the corresponding position point in the initial motion trajectory sequence follows a Gaussian distribution; and adding the target motion trajectory sequence of the simulated obstacle to the three-dimensional scene map.
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公开(公告)号：US11694359B2
公开(公告)日：2023-07-04
申请号：US16914121
申请日：2020-06-26
Inventor： Shuang Zhang , Xiang Liu , Bin Gao , Xiaoxing Zhu , Fan Yang , Junping Wang
CPC classification number: G06T7/80 , B60W50/06 , B60W60/0025 , G06T7/246 , B60W2420/42 , B60W2420/52 , G06T2207/10028 , G06T2207/30252
Abstract: A method and apparatus for calibrating a camera are provided. A specific embodiment of the method includes: acquiring an image-point cloud sequence, the image-point cloud sequence including at least one group of an initial image and point cloud data collected at a same time, the initial image being collected by a camera provided on an autonomous vehicle and the point cloud data being collected by a radar provided on the autonomous vehicle; determining target point cloud data of initial images corresponding to groups of image-point cloud in the image-point cloud sequence; and matching the target point cloud data with the corresponding initial images in the image-point cloud sequence to determine a correction parameter of the camera.
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Patent Agency Ranking
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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8.发明授权公开(公告)号：US11524702B2
公开(公告)日：2022-12-13
申请号：US16914582
申请日：2020-06-29
Inventor： Fan Yang , Junping Wang , Bei Liu
IPC: B60W60/00
Abstract: The present disclosure provides a method and a device for autonomous driving control, a vehicle, a storage medium and an electronic device. The method includes: obtaining first actual position data of a first vehicle body; obtaining relative position data between a second vehicle body and the first vehicle body; determining second actual position data of the second vehicle body according to the first actual position data and the relative position data, so that the vehicle performs autonomous driving control according to the first and second actual position data. The method can obtain the relative position between two vehicle bodies connected in the non-rigid manner and the real-time positions of the two vehicle bodies under different driving conditions in real time during the driving, can accurately depict the dynamic characteristics of two vehicle bodies, so that the vehicle performs autonomous driving control according to the first and second actual position data.
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公开(公告)号：US11338827B2
公开(公告)日：2022-05-24
申请号：US16917403
申请日：2020-06-30
Inventor： Lijun Ju , Chengfa Wang , Junping Wang , Fan Yang
Abstract: Embodiments of the present disclosure relate to an autonomous vehicle and a system for the autonomous vehicle. The system may include a master computing unit configured to control operations of the autonomous vehicle; a slave computing unit communicatively coupled to the master computing unit and configured to control the operations of the autonomous vehicle in response to detecting a failure of the master computing unit; at least one lidar configured to acquire environmental information around the autonomous vehicle; and a switch communicatively coupled to the at least one lidar, the master computing unit and the slave computing unit, and configured to provide the environmental information to the master computing unit and the slave computing unit for controlling the autonomous vehicle.
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公开(公告)号：US11912291B2
公开(公告)日：2024-02-27
申请号：US16917147
申请日：2020-06-30
Inventor： Lijun Ju , Chengfa Wang , Junping Wang , Fan Yang
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.
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