公开(公告)号：US20210389153A1

公开(公告)日：2021-12-16

申请号：US17281561

申请日：2019-09-27

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Longbao ZHEN ,  Jianyong GE ,  Rutao HAN ,  Long LI ,  Wei LI ,  Jian GAO ,  Kai ZHANG ,  Lin HE ,  Lu ZHANG

IPC: G01C21/36 ,  G01C21/00 ,  B60W30/12

Abstract: Disclosed are a road feature point extraction method and system. The road feature point extraction method comprises: acquiring map information for the current position of a vehicle, wherein the map information comprises the attributes of the current road and the attributes of the next road section; comparing the attributes of the current road with the attributes of the next road section to determine the road type of the next road section; and extracting, in conjunction with the road type of the next road section and the map information corresponding to the next road section, a road feature point representing a road scene on the next road section, and outputting the name of the extracted road feature point and information of the relative distance between the road feature point and the vehicle.

公开(公告)号：US20210362734A1

公开(公告)日：2021-11-25

申请号：US17281557

申请日：2019-09-27

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Jianyong GE ,  Tianpei WANG ,  Kai ZHANG ,  Hongwei LIU ,  Hongliang LIU ,  Yaxing REN ,  Lin HE ,  Xiaochuan LI

IPC: B60W50/02 ,  G06F16/245

Abstract: Disclosed are a data fusion method and apparatus for a vehicle sensor, the method comprising: reading a parameter attribute set of each target detected by a sensor arranged on a vehicle, wherein the parameter attribute set at least comprises one or more of the following: longitudinal velocity, longitudinal distance and transverse distance; generating an attribute combination according to the read parameter attribute set of each target detected by each sensor; and determining an overlap ratio of the parameter attribute set in each attribute combination, and carrying out data fusion based on the overlap ratio so as to obtain a first data fusion list, wherein the first data fusion list comprises the overlap ratio of each attribute combination and the parameter attribute set corresponding to the overlap ratio of each attribute combination. The method simplifies determination logic of a subsequent decision-making system and improves security and operating efficiency of the whole system.

公开(公告)号：US20210365695A1

公开(公告)日：2021-11-25

申请号：US17281560

申请日：2019-09-27

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Hongliang LIU ,  Jianyong GE ,  Longbao ZHEN ,  Rutao HAN ,  Wei LI ,  Junpeng ZHAO ,  Ronglin ZENG ,  Chaokai TIAN ,  Weifeng DENG

IPC: G06K9/00 ,  G08G1/16

Abstract: A method and apparatus used for extracting a feature point of an environmental target, which relate to the field of vehicles. The method comprises: acquiring the position of each corner point of an environmental target; and determining a feature point of the environmental target according to the position of each corner point of the environmental target. Thus, the problem wherein target identification is not precise may be solved, which is particularly suitable for the identification of a large target.

公开(公告)号：US20210365039A1

公开(公告)日：2021-11-25

申请号：US17281562

申请日：2019-09-27

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Tianpei WANG ,  Longbao ZHEN ,  Jianyong GE ,  Yaxing REN ,  Kai ZHANG ,  Rutao HAN ,  Lin HE ,  Xiaochuan LI ,  Xiao YANG

IPC: G05D1/02 ,  G05D1/00 ,  B60W40/02

Abstract: A target tracking method and device, relating to the field of vehicles. The method comprises: reading a target fusion list at the current moment, wherein the target fusion list comprises a target attribute set corresponding to each environment target in one or more environment targets, and the target attribute set comprises parameter attribute sets, measured by one or more sensors, of the environment targets; determining whether the target fusion list at the current moment is an initial target fusion list or not; and if the target fusion list at the current moment is not the initial target fusion list, determining a target tracking list at the current moment according to the target fusion list at the current moment and a stored target tracking list at the previous moment, wherein the target tracking list comprises a parameter attribute set corresponding to each screened environment target and a fusion tracking ID.

公开(公告)号：US20210362741A1

公开(公告)日：2021-11-25

申请号：US17281554

申请日：2019-09-27

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Rutao HAN ,  Jianyong GE ,  Hongwei LIU ,  Yaxing REN ,  Wenfeng CUI ,  Tianpei WANG ,  Kai ZHANG ,  Ruying TENG

IPC: B60W60/00

Abstract: A method and a system for constructing a driving coordinate system for use in the field of smart transport. The method for constructing a driving coordinate system comprises: determining the road boundary line on one side of the road on which a current vehicle is situated as a reference line for constructing a driving coordinate system; in a vehicle coordinate system, determining the reference line point having the smallest distance between the reference line and the current vehicle position as an origin point OF of the driving coordinate system; on the basis of the origin point OF, determining the road guiding line direction as the XF axis of the driving coordinate system and determining the direction relative to the road guiding line direction according to the left-hand rule as the YF axis of the driving coordinate system; and, on the basis of the origin point OF, the XF axis, and the YF axis, forming a corresponding driving coordinate system.

公开(公告)号：US20210269038A1

公开(公告)日：2021-09-02

申请号：US17255215

申请日：2019-06-21

Applicant: GREAT WALL MOTOR COMPANY LIMITED

Inventor： Ning LU ,  Jian GAO ,  Lin HE ,  Jianyong GE ,  Tianpei WANG

IPC: B60W30/18 ,  B60W40/105 ,  B60W10/20

Abstract: A method for controlling lane changing of a vehicle, including: receiving a lane changing instruction (step 101); acquiring a speed parameter of the vehicle (step 102); according to the speed parameter, determining a controlling coefficient of a predetermined controller (step 103); acquiring a position-deviation parameter and a heading-angle parameter of the vehicle; if the position-deviation parameter is greater than or equal to a first threshold, or, if the heading-angle parameter is greater than or equal to a second threshold, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining a target steering-wheel steering angle of the vehicle; and according to the target steering-wheel steering angle, controlling the vehicle to perform a lane changing operation, till the position-deviation parameter is less than the first threshold, and the heading-angle parameter is less than the second threshold (step 105). The cost of the vehicle lane changing is greatly reduced.