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公开(公告)号：US11417114B2
公开(公告)日：2022-08-16
申请号：US16914082
申请日：2020-06-26
Inventor： Shuang Zhang , Xiang Liu , Bin Gao , Xiaoxing Zhu , Jingjing Xue
Abstract: A method and apparatus for processing information are provided. A specific embodiment of the method includes: identifying at least one obstacle from a point cloud collected by a lidar during a traveling process of a vehicle; for an obstacle in the at least one obstacle, determining an appearance rate of the obstacle within a life cycle corresponding to the obstacle; determining a confidence degree of a grid region of at least one grid region based on appearance rates of obstacles in the at least one obstacle; determining a target grid region from the at least one grid region based on the confidence degree, and determining whether an obstacle detected in the target grid region is an obstacle detected for a first time; and if yes, filtering out a point cloud corresponding to the obstacle detected in the target grid region for the first time.
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公开(公告)号：US11853056B2
公开(公告)日：2023-12-26
申请号：US17124977
申请日：2020-12-17
Inventor： Gao Yu , Jingjing Xue , Shi Hu
CPC classification number: G05D1/0044 , B60W10/20 , B60W40/02 , B60W40/08 , B60W2540/049 , G05D2201/0213
Abstract: A remote control method for an autonomous vehicle includes: a central control device receives a remote control request message sent by a vehicle; detects a driving operation of a control person on the simulated cockpit; generates an instruction for simulating a driving operation according to the driving operation of a control person on the simulated cockpit, where the instruction for simulating a driving operation is used to simulate the driving operation of the control person on the simulated cockpit; and sends a remote control message to the vehicle. A remote control apparatus for an autonomous vehicle is also related.
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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：US11933604B2
公开(公告)日：2024-03-19
申请号：US17125207
申请日：2020-12-17
Inventor： Xuan Huang , Nan Wu , Xun Zhou , Jingjing Xue , Yingnan Liu
IPC: G01B11/26 , G01S17/931 , G05D1/00 , G06V10/24 , G06V20/56
CPC classification number: G01B11/26 , G01S17/931 , G05D1/0257 , G06V10/245 , G06V20/56
Abstract: The embodiments of the present disclosure provide a detection method, apparatus for automatic driving sensor, and electronic device. The method includes: pre-establishing a standard association relationship, the sensor to-be-detected is used for capturing in a fixed scene, and a corresponding capturing result is displayed.
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Patent Agency Ranking
公开(公告)号：US11724721B2
公开(公告)日：2023-08-15
申请号：US16915546
申请日：2020-06-29
Inventor： Xiang Liu , Bin Gao , Shuang Zhang , Xiaoxing Zhu , Jingjing Xue , Junping Wang , Chengfa Wang
IPC: B60W60/00
CPC classification number: B60W60/00272 , B60W60/0017 , B60W2554/4029 , B60W2554/4044
Abstract: A method, including: acquiring a point cloud frame including point cloud data of a pedestrian; projecting the point cloud data of the pedestrian to a ground coordinate system to obtain projection point data of the pedestrian; determining a direction of a connection line between the two shoulders of the pedestrian, based on a location distribution of the projection point data; extracting a point cloud of a stable region from the point cloud data of the pedestrian based on the direction of the connection line between the two shoulders of the pedestrian, a form change range of the stable region when the pedestrian moves being smaller than form change ranges of other regions of the pedestrian; and determining movement information of the pedestrian based on a coordinate of a center point of the point cloud of the stable region in a plurality of consecutive point cloud frames.
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公开(公告)号：US11858494B2
公开(公告)日：2024-01-02
申请号：US17124537
申请日：2020-12-17
Inventor： Gao Yu , Jingjing Xue , Gaifan Li , Donghui Shen , Tong Wu , Jiaqi Liang
CPC classification number: B60W60/0053 , B60W40/02 , B60W50/082 , B60W50/14 , B60W60/0059 , B60W2050/0072 , B60W2050/146
Abstract: Embodiments of the present disclosure provide a method for processing vehicle driving mode switching, a vehicle and a server. The method includes: determining (S103) a target switching reason upon detecting that a driving mode of a vehicle is switched from unmanned driving to manned driving; acquiring (S104) status information and/or traveling environment information of the vehicle corresponding to the target switching reason; and sending the status information and/or the traveling environment information, and the target switching reason to a server, to enable the server to analyze the target switching reason, and improve the automatic driving system continuously according to the analysis result.
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8.发明授权公开(公告)号：US11621952B2
公开(公告)日：2023-04-04
申请号：US17004301
申请日：2020-08-27
Inventor： Wenlong Rao , Yan Feng , Xuan Huang , Wei Gong , Gaifan Li , Yingnan Liu , Yue Wang , Jingjing Xue
Abstract: The present disclosure discloses a remote login processing method, apparatus, device and storage medium for an unmanned vehicle, and relates to the technical field of remote control. The implementation method of the specific method includes: sending a login request to an unmanned vehicle terminal through a first communication channel in response to a the login request received from an operator, and waiting to receive a reply instruction returned by the unmanned vehicle terminal; returning the reply instruction to the operator through the second communication channel in response to the reply instruction received from the unmanned vehicle terminal, so that the operator logs in the unmanned vehicle terminal according to the reply instruction, where there is a persistent connection state that unidirectionally authenticated between the second communication channel and the unmanned vehicle terminal.
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公开(公告)号：US11619936B2
公开(公告)日：2023-04-04
申请号：US16716365
申请日：2019-12-16
Inventor： Zijie Wang , Yingnan Liu , Wenlong Rao , Jingjing Xue , Hailong Sun , Shi Hu , Yue Wang
Abstract: The present disclosure provides a method and an apparatus for remotely controlling a self-driving vehicle, including: a control device receives operation state information of the vehicle to be controlled transmitted by the vehicle, and video data and/or audio data of a passenger in the vehicle; determines a first abnormal parameter of the vehicle according to the operation state information of the vehicle; determines a second abnormal parameter of an emotion of the passenger in the vehicle according to the video data and/or audio data of the passenger in the vehicle; and controls the vehicle remotely according to the first abnormal parameter and the second abnormal parameter. It is possible to avoid the situation that the passenger in the vehicle performs a wrong manipulation on the vehicle due to a large emotional fluctuation in an emergency, thus making the control of the vehicle more safe and reliable in the emergency.
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公开(公告)号：US11562307B2
公开(公告)日：2023-01-24
申请号：US16718016
申请日：2019-12-17
Inventor： Zijie Wang , Yingnan Liu , Wenlong Rao , Jingjing Xue , Yue Wang
IPC: G06Q10/06 , G08G1/133 , H04N21/2187 , G06V20/59 , G06V40/16
Abstract: The present disclosure provides a vehicle passenger flow statistical method, including: acquiring, by a server, door opening time and door closing time of a vehicle during any one door opening and closing process of door opening and closing processes in a pending statistical period; acquiring, by the server, a first set of images and a second set of images in a carriage of the vehicle according to the door opening time and the door closing time; and acquiring, by the server, the number of on-board people and the number of off-board people during the door opening and closing process according to the first set of images and the second set of images. The present disclosure can improve efficiency and accuracy of passenger flow statistics according to which an operation plan of the vehicle may be optimized timely and effectively.
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