公开(公告)号：US20210262808A1

公开(公告)日：2021-08-26

申请号：US17317294

申请日：2021-05-11

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Chao WANG ,  Xinyu WANG ,  Shaoyu YANG

IPC: G01C21/32 ,  B60W30/09 ,  B60W30/095 ,  B60W30/12 ,  G06K9/00

Abstract: Methods, apparatus, and computer programs stored on a computer-readable storage medium for obstacle avoidance are provided. One example method includes obtaining vehicle information, obstacle information, and a drivable area of a vehicle at a moment t, and processing the drivable area based on the vehicle information and the obstacle information to obtain a potential energy grid map. The method can include obtaining information about a center line of a lane in which the vehicle is currently located, and obtaining a parallel-line track cluster based on the information about the lane center line. The method can include calculating a cost value of each parallel-line track, and performing time-domain filtering on a parallel-line track with a minimum cost value in the parallel-line track cluster to obtain a target track at the moment t specifying a parallel line track that is used by the vehicle to avoid an obstacle.

公开(公告)号：US20240051572A1

公开(公告)日：2024-02-15

申请号：US18495071

申请日：2023-10-26

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Siyuan CHENG ,  Donghao HAO ,  Shaoyu YANG ,  Xinyu WANG

IPC: B60W60/00 ,  B60W40/02 ,  B60W50/00

CPC classification number: B60W60/001 ,  B60W40/02 ,  B60W50/00 ,  B60W2554/80 ,  B60W2050/005

Abstract: The present disclosure relates to methods and apparatuses for decision making. An example method includes obtaining a predicted moving track of an ego vehicle and predicted moving tracks of obstacles around the ego vehicle. The method further includes determining a game object. The game object is an obstacle that is in the obstacles around the ego vehicle and whose predicted moving track intersects the predicted moving track of the ego vehicle or whose distance from the ego vehicle is less than a specified threshold. The method further includes constructing one sampling game space for each game object based on vehicle information of the ego vehicle, obstacle information of the game object, and road condition information that are collected by a sensor system. Each sampling game space includes one or more game policies. The method further includes calculating a policy cost of each game policy.

公开(公告)号：US20240166242A1

公开(公告)日：2024-05-23

申请号：US18424238

申请日：2024-01-26

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Zhengchen DAI ,  Zhitao WANG ,  Shaoyu YANG ,  Xinyu WANG

IPC: B60W60/00 ,  B60W50/14

CPC classification number: B60W60/0018 ,  B60W50/14 ,  B60W2050/146

Abstract: This application relates to intelligent driving technologies, and provides an intelligent driving decision-making method, including: first, obtaining a game object of an ego vehicle; then from a plurality of strategy spaces of the ego vehicle and the game object, performing a plurality of times of release of the plurality of strategy spaces; and determining a strategy feasible region of the ego vehicle and the game object based on each released strategy space, and determining a traveling decision-making result of the ego vehicle based on the strategy feasible region. The decision-making result is an executable behavior action of the ego vehicle. As described above, by releasing the strategy spaces for a plurality of times, while decision-making precision is ensured, the decision-making result may be obtained when as fewer strategy spaces are released as possible. This reduces a computing amount and lowers a requirement for hardware computing power.