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公开(公告)号：US20200028733A1
公开(公告)日：2020-01-23
申请号：US16509353
申请日：2019-07-11
发明人： Xiangyu FU , Jie HUANG , Renlan CAI , Shiyu SONG , Fangfang DONG
摘要： A method and an apparatus for processing information are provided. A method may include: sending a preset data acquisition request to a target data transmission end included in at least two preset data transmission ends; receiving feedback information from the target data transmission end, and determining whether the feedback information includes the acquired data; determining, in response to determining that the feedback information does not include the acquired data, whether the feedback information includes first fault information for indicating that the target data transmission end malfunctions; and selecting, in response to determining that the feedback information includes the first fault information, a data transmission end other than the target data transmission end from the at least two data transmission ends as a new target data transmission end.
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2.发明申请公开(公告)号：US20200026925A1
公开(公告)日：2020-01-23
申请号：US16518801
申请日：2019-07-22
发明人： Li YU , Shiyu SONG
摘要： Embodiments of the present disclosure provide a method and a device for generating an electronic map, an electronic device, a computer readable storage medium, and an acquisition entity. The method includes: obtaining a first point cloud sequence and a second point cloud sequence for a preset region; generating a first grid map for the first point cloud sequence and a second grid map for the second point cloud sequence, wherein a grid in each of the first grid map and the second grid map at least comprises reflection value information of a point cloud; and optimizing the first point cloud sequence based on the first grid map and the second grid map.
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公开(公告)号：US20190335415A1
公开(公告)日：2019-10-31
申请号：US16505794
申请日：2019-07-09
发明人： Xiangyu FU , Jie HUANG , Renlan CAI , Shiyu SONG , Fangfang DONG
摘要： The present disclosure provides a method, an apparatus, and a device for switching GNSS reference station and a storage medium. The method of the present disclosure, by that in the process of moving of a positioning device, the positioning device transmits current position of the positioning device itself information to a base station server in real time, and the base station server determines a base station closest to the positioning device according to the current position information of the positioning device and position information of each base station; and the base station server switches a reference station of the positioning device to the base station closest to the positioning device, ensures that in the process of moving of the positioning device, the reference station of the positioning device is automatically switched according to a real-time position of the positioning device.
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公开(公告)号：US20210004020A1
公开(公告)日：2021-01-07
申请号：US16914699
申请日：2020-06-29
发明人： Fan YANG , Shiyu SONG , Shuang ZHANG
摘要： 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：US20200011675A1
公开(公告)日：2020-01-09
申请号：US16502368
申请日：2019-07-03
发明人： Li YU , Shiyu SONG , Fangfang DONG
IPC分类号： G01C21/32
摘要： Embodiments of the present disclosure provide a method and a device for acquiring a map, a device, and a computer readable storage medium. The method includes: acquiring a reference map of an acquisition area; dividing the acquisition area into a plurality of sub-areas based on the reference map; generating a plurality of acquisition tasks corresponding to the plurality of sub-areas, wherein each of the plurality of acquisition tasks is configured to acquire a map of each of the plurality of sub-areas; and assigning each of the plurality of acquisition tasks to an acquisition entity, to enable the acquisition entity to acquire the map of each of the plurality of sub-areas.
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公开(公告)号：US20190145776A1
公开(公告)日：2019-05-16
申请号：US16179460
申请日：2018-11-02
发明人： Xiaolong YANG , Renlan CAI , Shiyu SONG , Fangfang DONG
摘要： The present disclosure provides an integrated positioning method and system. The method comprises: receiving IMU data, and solving for the IMU data in a first Kalman filter to obtain a system state variable of an autonomous vehicle; receiving and buffering measurement data, and regarding the measurement data as current measurement data; performing measurement updating: obtaining the system state variable at a measurement time of current measurement data, and solving in the second Kalman filter to obtain an updated system state variable; if measurement data after the measurement time of the measurement data is already buffered, regarding the already-buffered measurement data after the measurement time as current measurement data, and performing the measurement update. The present disclosure can solve the problem about measurement information disorder caused by inconsistency of time delay in solving between different sensors, and improve real time and accuracy of the positioning.
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公开(公告)号：US20190025075A1
公开(公告)日：2019-01-24
申请号：US15784908
申请日：2017-10-16
发明人： Weilin PENG , Li YU , Shengpan XU , Hailong TIAN , Shiyu SONG , Fangfang DONG
IPC分类号： G01C21/36
摘要： Disclosed embodiments include a method and a device for generating position information of a target object. In some embodiments, the method comprises: obtaining target point cloud data of the target object, acquired by a target scanner at a target position, and position information of the target scanner, and obtaining reference point cloud data of the target object, acquired by a reference scanner at a reference position, and position information and an Euler angle of the reference scanner; obtaining an Euler angle of the target scanner based on the target point cloud data, the reference point cloud data, and the Euler angle of the reference scanner; and generating the position information of the target object based on the target point cloud data, the position information and the Euler angle of the target scanner, the reference point cloud data, and the position information and the Euler angle of the reference scanner.
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公开(公告)号：US20170344018A1
公开(公告)日：2017-11-30
申请号：US15282984
申请日：2016-09-30
发明人： Shiyu SONG , Wenbo LI , Tianlei ZHANG
CPC分类号： G05D1/0236 , G01C21/005 , G01S7/4808 , G01S17/89 , G05D1/0088 , G05D1/024 , G05D1/0274 , G05D2201/0213 , G06F17/16 , G06N7/005
摘要： Disclosed embodiments include an unmanned vehicle, a method, apparatus and system for positioning an unmanned vehicle. In some embodiments, the method includes: acquiring first laser point cloud height value data matching a current position of the unmanned vehicle, the first laser point cloud height value data; converting the first laser point cloud height value data into laser point cloud projection data in a horizontal earth plane; determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud height value map; and determining a position of the unmanned vehicle in the laser point cloud height value map based on the first matching probability. The embodiment implements an accurate positioning on the current position of the unmanned vehicle.
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公开(公告)号：US20200064137A1
公开(公告)日：2020-02-27
申请号：US16508259
申请日：2019-07-10
发明人： Hao LI , Guowei WAN , Yao ZHOU , Shiyu SONG , Fangfang DONG
摘要： Embodiments of the present disclosure disclose a method and apparatus for positioning an autonomous vehicle. The method includes: matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter based on the matching result; determining at least two first response areas in the first histogram filter based on a probability value of an element in the first histogram filter; generating a second histogram filter based on a result of matching a current point cloud projected image of a second resolution with a map of the second resolution and the at least two first response areas, the first resolution being less than the second resolution; and calculating a weighted average of probability values of target elements in the second histogram filter to determine a positioning result of the autonomous vehicle in the map of the second resolution.
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公开(公告)号：US20190340746A1
公开(公告)日：2019-11-07
申请号：US16517782
申请日：2019-07-22
发明人： Weixin LU , Shiyu SONG , Fangfang DONG , Shengpan XU
摘要： 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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