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    METHOD AND DEVICE FOR MEASURING TRAILER INCLUDED ANGLE, AND VEHICLE
    1.
    发明申请
    METHOD AND DEVICE FOR MEASURING TRAILER INCLUDED ANGLE, AND VEHICLE 有权

    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.

    Inventor： Yuhe JIN ,  Yiming LI ,  Nan WU

    IPC: G01B11/26 ,  G01S17/06 ,  G01S17/89

    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.

    TRAILER ANGLE MEASUREMENT METHOD AND DEVICE, AND VEHICLE
    2.
    发明申请
    TRAILER ANGLE MEASUREMENT METHOD AND DEVICE, AND VEHICLE 有权

    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.

    Inventor： Yuhe JIN ,  Nan WU ,  Yiming LI

    IPC: G01S17/89 ,  G01B11/26

    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.

    PRECISE PARKING METHOD, APPARATUS AND SYSTEM OF TRUCK IN SHORE-BASED CRANE AREA
    3.
    发明申请
    PRECISE PARKING METHOD, APPARATUS AND SYSTEM OF TRUCK IN SHORE-BASED CRANE AREA 有权

    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

    IPC: G08G1/14 ,  G06K9/00 ,  B60W30/06

    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.

    PLATOONING METHOD, APPARATUS AND SYSTEM OF AUTONOMOUS DRIVING PLATOON
    6.
    发明申请
    PLATOONING METHOD, APPARATUS AND SYSTEM OF AUTONOMOUS DRIVING PLATOON 有权

    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.

    Inventor： Wenrui LI ,  Nan WU ,  Rui PENG ,  Qingxin BI ,  Yuhe JIN ,  Yiming LI

    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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