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公开(公告)号：US12067790B2
公开(公告)日：2024-08-20
申请号：US17597100
申请日：2019-06-28
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Qianshan Li , Wenxin Tian
CPC classification number: G06V20/588 , G06V10/72 , G06V10/803
Abstract: A method and an apparatus identifies an object. The method includes at a first time instant, acquiring raw data output by a camera installed on a vehicle, the output raw data comprises one of a continuous data output format for a continuous model or a discrete data output format for a discrete model; feeding the raw data to a discrete statistic model to form discrete statistic model format data for the first time instant, the discrete statistic model format data includes a continuous part having the continuous data output format and a discrete part having the discrete data output format; fusing the discrete statistic model format data for the first time instant with historical discrete statistic model format data to update the discrete statistic model format data for the first time instant; and identifying the object from the updated discrete statistic model format data for the first time instant, wherein the object includes a lanemarking characterized by a curve.
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公开(公告)号：US12227203B2
公开(公告)日：2025-02-18
申请号：US17596528
申请日：2019-06-14
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Qianshan Li , Wenxin Tian
Abstract: A method includes obtaining a pre-defined roadmodel 2-dimensional (2D) manifold in 6D space, wherein the roadmodel 2D manifold in 6D space is pre-defined by transforming objects in a roadmodel from 3D space into 6D space, obtaining a current position of the vehicle and a target position of the vehicle on the horizontal plane; obtaining a piece of the roadmodel 2D manifold covering the current position and the target position; flattening the piece of the roadmodel represented by the piece of the roadmodel 2D manifold onto the horizontal plane while maintaining a distance between any two points from 3D space to the horizontal plane; and planning a trajectory for the vehicle from the current position to the target position in the flattened roadmodel on the horizontal plane.
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公开(公告)号：US11761783B2
公开(公告)日：2023-09-19
申请号：US16955871
申请日：2017-12-21
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Tomas Xu
CPC classification number: G01C21/3658 , G01C21/3602 , G06T7/74 , G06T11/203 , H04N5/272 , G06T2207/30244 , G06T2207/30256 , G06T2210/62
Abstract: A method for displaying lane information for a vehicle, includes obtaining a digital map; defining localization information of the vehicle; obtaining a route plan of the vehicle; determining a driving lane according to the localization information of the vehicle and the route plan of the vehicle; obtaining coordinates information of lane markings of the driving lane from the digital map; receiving image data from a camera mounted on the vehicle; transforming the lane markings of the driving lane from a coordinate system of the digital map to a coordinate system of the camera; generating a lane guide sign indicating the lane markings of the driving lane in the coordinate system of the camera based on the lane markings of the driving lane transformed to the coordinate system of the camera; and superimposing the lane guide sign of the lane markings of the driving lane on the image data received from the camera.
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公开(公告)号：US10740962B2
公开(公告)日：2020-08-11
申请号：US16451227
申请日：2019-06-25
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Sebastian Granzow , Wanli Jiang , Qianshan Li , Rick Li , Bill Lv , Ivan Xu , Tomas Xu
Abstract: A method and an apparatus for uncertainty modeling of a point cloud and a non-transient storage medium are provided. The method finds the neighboring points for each point; fits a local quadratic surface for each point; and generates a Gaussian Model (GM) for representing the uncertainty modeling of the local surface at each point. The GM is constructed in a piece-wise manner on the underlying surface of the point cloud, which will accurately model the surface uncertainty.
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公开(公告)号：US12078490B2
公开(公告)日：2024-09-03
申请号：US17596526
申请日：2019-06-14
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Qianshan Li , Wenxin Tian
CPC classification number: G01C21/28 , B60W60/001
Abstract: A method for determining a 6-dimensional (6D) delta pose of a vehicle includes obtaining a pre-defined roadmodel 2-dimensional (2D) manifold in 6D space, wherein the roadmodel 2D manifold in 6D space is pre-defined by transforming objects in a roadmodel from 3D (x, y, z) space into 6D (x, y, z, r, p, y) space, wherein x and y represent positions of objects on a horizontal plane, and z, r, p and y represent the height, roll angle, pitch angle and yaw angle of the objects in real world; obtaining a delta 3D odometry (Δx, Δy, θ) from an odometer of the vehicle, wherein Δx and Δy represent the movements in the lateral and forward-reverse directions, and θ represents a current heading of the vehicle; projecting the obtained delta 3D odometry onto the roadmodel 2D manifold; and determining the 6D delta pose of the vehicle corresponding to the delta 3D odometry.
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Patent Agency Ranking
公开(公告)号：US12044546B2
公开(公告)日：2024-07-23
申请号：US16958212
申请日：2017-12-27
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Hai Jin , Bill Lv , Tomas Xu
CPC classification number: G01C21/3819 , G01C21/3867 , G01C21/387 , G06F16/29
Abstract: A method and an apparatus for correcting deformation of a digital map for a vehicle, includes loading a related part from the digital map; determining whether the related part includes road coordinate information in a first zone and road coordinate information in a second zone, wherein the road coordinate information in the first zone is associated with a first Cartesian coordinate system and the road coordinate information in the second zone is associated with a second Cartesian coordinate system; transforming the road coordinate information in the second zone to the first Cartesian coordinate system, if the related part includes the road coordinate information in the first zone and the road coordinate information in the second zone; and generating a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone; wherein the first Cartesian coordinate system is the coordinate system of the vehicle for processing the road coordinate information.
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公开(公告)号：US11643092B2
公开(公告)日：2023-05-09
申请号：US16958318
申请日：2017-12-27
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Gavin Xu , Tomas Xu
CPC classification number: B60W50/0097 , B60W30/18163 , B60W60/0011 , B60W2520/105 , B60W2520/14 , B60W2552/10 , B60W2554/801
Abstract: A method and a system for lane change prediction. The method includes collecting raw driving data, extracting a plurality of feature sets from the collected raw driving data, and obtaining corresponding lane change information. The lane change information indicates a status of lane change of a vehicle under each of the extracted feature sets. The method further includes automatically labeling each of the extracted plurality sets of features with the obtained corresponding lane change information. The method further includes training a lane change prediction model with the labeled plurality sets of features. Examples of the present disclosure further describe methods, systems, and vehicles for applying the lane change prediction model.
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8.发明授权公开(公告)号：US11567496B2
公开(公告)日：2023-01-31
申请号：US16610127
申请日：2017-09-20
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Sebastian Granzow , Wanli Jiang , Qianshan Li , Jianpeng Li , Shuhan Lv , Tao Xu , Hongshan Xu
IPC: G05D1/02 , G06F9/30 , G06F9/38 , G06K9/62 , G06V20/56 , G06V20/64 , G01S17/42 , G01S17/931 , G01C21/30 , G01S7/48 , G06T7/48 , G06T7/246 , G06T7/593 , G06T7/521 , G06T7/80
Abstract: A method and an apparatus optimizes scan data obtained by sensors on vehicle, and corrects trajectory for a vehicle/robot based on the optimized scan data. The method for optimizing the scan data obtained by scanning environment elements, includes: step of obtaining the scan data, including obtaining at least two frames of scan data respectively corresponding to different timings; step of cluster processing, based on the characteristic of the data points, including classifying the plurality of data points in each frame of the scan data into one or more clusters; step of establishing correspondence, among the at least two frames of scan data, including searching and obtaining at least one set of clusters having correspondence; step of optimizing clusters, among the at least two frames of scan data, including conducting calculation to each set of the at least one set of clusters having correspondence, to obtain optimized clusters respectively corresponding to each set of the at least one set of clusters having correspondence; and step of optimizing the scan data, including accumulating all optimized clusters to obtain an optimized scan date for the at least two frames of scan data.
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公开(公告)号：US11538168B2
公开(公告)日：2022-12-27
申请号：US17251078
申请日：2018-06-15
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Wanli Jiang , Qianshan Li
Abstract: A method for segmentation of a point cloud includes receiving a first frame of point cloud from a sensor; segmenting the first frame of point cloud to obtain a first set of point clusters representing a segmentation result for the first frame of point cloud; receiving a second frame of point cloud from the sensor; mapping the first set of point clusters to the second frame of point cloud; determining points within the second frame of point cloud which do not belong to the mapped first set of point clusters; segmenting the points within the second frame of point cloud which do not belong to the mapped first set of point clusters to obtain a second set of point clusters; and generating a segmentation result for the second frame of point cloud by combining the first set of point clusters and the second set of point clusters.
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公开(公告)号：US11436919B2
公开(公告)日：2022-09-06
申请号：US16855544
申请日：2020-04-22
Applicant: Bayerische Motoren Werke Aktiengesellschaft
Inventor： Maximilian Doemling , Wanli Jiang , Qianshan Li , Bill Lv , Gavin Xu , Tomas Xu
Abstract: A method for determining driving strategy of a vehicle includes obtaining localization information of the vehicle, a driving route of the vehicle, and a current driving velocity of the vehicle. The method further includes detecting and interpreting a current status of a traffic light. The method further includes recognizing a duration of the current status of the traffic light. The method further includes detecting a relevant stop line. The method further includes obtaining a distance between the stop line and the vehicle. The method further includes determining whether to change the current driving velocity according to the current status of the traffic light, the duration of the current status of the traffic light, the distance between the traffic stop line and the vehicle, and the current driving velocity. A data processing device for determining driving strategy of a vehicle is also provided.
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