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公开(公告)号：US20210327271A1
公开(公告)日：2021-10-21
申请号：US17360743
申请日：2021-06-28
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
Inventor： Yiming LI , Yuhe JIN , Jinpeng CAI , Nan WU
Abstract: The present disclosure provides a method, a device, and a system for parking a truck. The method includes a main controller acquiring real-time point cloud data by scanning a lane crossed by a shore crane using a laser radar; the main controller clustering the real-time point cloud data to obtain a set of point clouds for the truck moving in the lane; and the main controller obtaining a real-time distance from the moving truck to a target parking space based on the set of point clouds and a vehicle point cloud model; the main controller broadcasting a message containing the real-time distance, such that a vehicle controller controls the moving truck to stop at the target parking space based on the real-time distance contained in the message.
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公开(公告)号：US20210356261A1
公开(公告)日：2021-11-18
申请号：US17325151
申请日：2021-05-19
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
Abstract: The present disclosure provides a method, an apparatus and a vehicle for trailer angle measurement, applied in a semi-trailer including a tractor and a trailer. At least one LiDAR is provided on each of two sides of a rear part of the tractor. A reflector with a reflective surface is fixedly provided at a front part of the trailer, and the reflective surface faces the LiDARs. The method includes: controlling the LiDARs to emit laser light, such that the reflective surface of the reflector reflects the laser light; controlling each of the LiDARs to receive a corresponding laser point cloud reflected by the reflector; and calculating a trailer angle based on the corresponding laser point clouds. The method and apparatus can increase the range of trailer angle measurement, such that the trailer angle can be measured even if the trailer angle is relatively large.
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Patent Agency Ranking
公开(公告)号：US20210349217A1
公开(公告)日：2021-11-11
申请号：US17343489
申请日：2021-06-09
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
Abstract: The present disclosure provides a method and an apparatus for trailer angle measurement, as well as a vehicle, applied in a vehicle including a tractor and a trailer. At least one LiDAR is provided on each of two sides of the tractor. The method includes: obtaining, an initial trailer model containing initial point cloud data; controlling the to emit laser light; controlling each of the LiDARs to receive a corresponding point cloud reflected by the surface of the trailer; and calculating a trailer angle based on the point cloud data and the initial point cloud data using a point cloud matching algorithm. With the embodiments of the present disclosure, fast and accurate measurement of a trailer angle can be achieved with a simple structure.
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公开(公告)号：US20240242614A1
公开(公告)日：2024-07-18
申请号：US18618476
申请日：2024-03-27
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
IPC: G08G1/00 , B60K35/00 , B60W30/165 , B60W50/00 , B60W50/14 , B60W60/00 , G07C5/08 , H04W4/46 , H04W76/10 , B60K35/28
CPC classification number: G08G1/22 , B60K35/00 , B60W30/165 , B60W50/00 , B60W50/14 , B60W60/0025 , G07C5/085 , G08G1/20 , H04W4/46 , H04W76/10 , B60K35/28 , B60K2360/166 , B60W2050/146 , B60W2554/4041 , B60W2554/802 , B60W2556/45
Abstract: The present disclosure provides a method and a server for platooning. The method provides: obtaining, based on a platooning request message, a first vehicle type and first kinematic information of a vehicle to join a platoon, a second vehicle type and second kinematic information of a current tail of the platoon, first sensor operating status information of the vehicle to join the platoon, and second sensor operating status information of the current tail vehicle; performing vehicle kinematic determination to obtain a kinematic determination result; performing sensor determination to obtain a sensor determination result; transmitting a confirmation request message to a vehicle of the platoon when the determination results are both successful; and controlling, upon receiving a request approval message, the vehicle to join the platoon to establish a V2V communication connection with each vehicle in the platoon. The method can achieve platoon without any road side unit.
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公开(公告)号：US20220189311A1
公开(公告)日：2022-06-16
申请号：US17653860
申请日：2022-03-07
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
Inventor： Yong XU , Nan WU , Wenrui LI , Yiming LI , Qingxin BI
IPC: G08G1/00 , G05D1/02 , B60W30/165 , H04W4/44
Abstract: A waypoint information transmission method, apparatus and system for platooning are provided. An example method for transmitting waypoint information of a platooning comprises: receiving, by an apparatus for transmitting waypoint information in real time, waypoint information of each cycle sent by a leading vehicle-mounted apparatus mounted on a leading vehicle; storing, by the apparatus, the waypoint information of each cycle, so as to form historical waypoint information; receiving, by the apparatus, a waypoint information transmission control instruction sent by the leading vehicle-mounted apparatus, and determining, according to the waypoint information transmission control instruction, target waypoint information based on the historical waypoint information; and sending, by the apparatus, the target waypoint information to a first vehicle-mounted apparatus mounted on a first following vehicle that is following the leading vehicle and to be enqueued for the platooning.
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公开(公告)号：US20210394747A1
公开(公告)日：2021-12-23
申请号：US17360649
申请日：2021-06-28
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
Inventor： Yiming LI , Xu XIAO , Yuhe JIN , Jinpeng CAI , Nan WU
IPC: B60W30/06 , G06K9/62 , G06T7/521 , G08G1/00 , B60W50/00 , B60W10/04 , B60W10/18 , G01S17/931 , G01S7/48 , G01S17/42
Abstract: A method, a device, and a system for parking a truck accurately in a shore crane area are provided. A vehicle controller transmits a parking request for a truck to be parked. A main controller receives the parking request and acquires real-time point cloud data by scanning one or more lanes crossed by a shore crane using one or more LiDARs. The main controller clusters the real-time point cloud data to obtain a set of point clouds for the truck and applies an Iterative Closest Point algorithm to the set of point clouds and a vehicle point cloud model to obtain a real-time distance from the truck to a target parking space. The vehicle controller controls the truck to stop at the target parking space based on the real-time distance.
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公开(公告)号：US20210358308A1
公开(公告)日：2021-11-18
申请号：US17347099
申请日：2021-08-03
Applicant: Beijing Tusen Zhitu Technology Co., Ltd.
IPC: G08G1/00 , B60W50/00 , G07C5/08 , B60W60/00 , B60K35/00 , B60W30/165 , B60W50/14 , H04W4/46 , H04W76/10
Abstract: The present disclosure provides a method and a server for platooning. The method provides: obtaining, based on a platooning request message, a first vehicle type and first kinematic information of a vehicle to join a platoon, a second vehicle type and second kinematic information of a current tail of the platoon, first sensor operating status information of the vehicle to join the platoon, and second sensor operating status information of the current tail vehicle; performing vehicle kinematic determination to obtain a kinematic determination result; performing sensor determination to obtain a sensor determination result; transmitting a confirmation request message to a vehicle of the platoon when the determination results are both successful; and controlling, upon receiving a request approval message, the vehicle to join the platoon to establish a V2V communication connection with each vehicle in the platoon. The method can achieve platoon without any road side unit.
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