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：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.

公开(公告)号：US20240166200A1

公开(公告)日：2024-05-23

申请号：US18425750

申请日：2024-01-29

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Zhen WANG ,  Yuying CHEN ,  Yilun YANG ,  Xinyu WANG

IPC: B60W30/09 ,  B60W50/14

CPC classification number: B60W30/09 ,  B60W50/14 ,  B60W2050/146 ,  B60W2540/225

Abstract: A vehicle control method and an apparatus using the vehicle control method are provided. The control method includes: obtaining sight information of a driver, where the sight information includes a focus sector of the driver, and the focus sector includes at least one of a plurality of field of view sectors of a vehicle; and obtaining a control policy of the vehicle based on at least the sight information. In this control method, the focus sector represents a field of view range of the driver, and stability of a detection result of the field of view range is improved, so that accuracy of vehicle control is improved.

公开(公告)号：US20230211809A1

公开(公告)日：2023-07-06

申请号：US18181282

申请日：2023-03-09

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Weize ZHANG ,  Zhiwei GAO ,  Xinyu WANG

IPC: B60W60/00 ,  B60W30/095

CPC classification number: B60W60/0027 ,  B60W30/0956 ,  B60W2520/105 ,  B60W2554/4042

Abstract: The present application discloses autonomous driving methods and apparatuses that may be applied to an intelligent vehicle and an autonomous driving vehicle. An example method includes: obtaining a motion status of an obstacle; determining a location of a towing point and a speed of the towing point based on the motion status of the obstacle, where both the location of the towing point and the speed of the towing point are continuous functions of the motion status of the obstacle; and obtaining expected acceleration of an ego vehicle based on the location of the towing point and the speed of the towing point.

公开(公告)号：US20230159056A1

公开(公告)日：2023-05-25

申请号：US18156703

申请日：2023-01-19

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Siyuan CHENG ,  Chao WANG ,  Xinyu WANG

IPC: B60W60/00 ,  B60W30/095 ,  B60W50/00

CPC classification number: B60W60/0011 ,  B60W30/0956 ,  B60W50/0098 ,  B60W2050/0052 ,  B60W2554/802 ,  B60W2556/10

Abstract: The planning method includes: obtaining a distance map; determining a first horizontal background cost potential field in a near-field range based on the distance map, where the first horizontal background cost potential field is a first repulsion field formed by an obstacle at a horizontal location on the traveling apparatus, the first horizontal background cost potential field includes a target minimum-value point, background costs on two horizontal sides of the target minimum-value point feature monotonicity, and the background cost represents a near-field horizontal collision cost caused by the obstacle at the horizontal location in the near-field range to the traveling apparatus; and determining a current obstacle avoidance path based on the first horizontal background cost potential field. The method for planning an obstacle avoidance path in embodiments of this application enables the traveling apparatus to avoid an obstacle safely and stably in a complex and narrow traffic scenario.

公开(公告)号：US20190207798A1

公开(公告)日：2019-07-04

申请号：US16295248

申请日：2019-03-07

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Xinyu WANG ,  Ding DING ,  Boyun XIE ,  Hongjie LI ,  Xing HUANG

IPC: H04L27/26 ,  H04W72/04 ,  H04W72/08 ,  H04W24/10

CPC classification number: H04L27/2691 ,  H04L5/0073 ,  H04L5/0092 ,  H04L5/1469 ,  H04L27/2607 ,  H04L27/2666 ,  H04W24/10 ,  H04W28/00 ,  H04W72/0413 ,  H04W72/0426 ,  H04W72/0446 ,  H04W72/0453 ,  H04W72/082 ,  H04W72/085

Abstract: Communication method and base stations are provided. One example includes determining, by a base station, that co-channel interference exists. For N consecutive symbols before a guard period (GP) in a special subframe in a radio frame, the base station sends a signal by using M1 middle resource blocks (RBs) of the N symbols, and reserves use of an RB other than the M1 RBs in the N symbols, where both N and M1 are positive integers.

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：US20240025412A1

公开(公告)日：2024-01-25

申请号：US18481467

申请日：2023-10-05

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Lei ZHANG ,  Yeqing ZHANG ,  Zhousu LI ,  Xia ZENG ,  Siyuan CHENG ,  Xinyu WANG

IPC: B60W30/18 ,  B60W30/09 ,  B60W30/095 ,  B60W40/02

CPC classification number: B60W30/18163 ,  B60W30/09 ,  B60W30/0956 ,  B60W40/02 ,  B60W2552/53 ,  B60W2554/40

Abstract: A trajectory planning method and a related device are provided, to plan a sub-lane-level trajectory, so that an autonomous vehicle drives along the sub-lane-level trajectory, and driving stability and safety of the autonomous vehicle are improved by using the sub-lane-level trajectory. Target information is obtained, where the target information includes at least one of a driving status of a target vehicle and first road condition information. A first planned trajectory of the target vehicle is determined based on the target information, where the first planned trajectory includes a target trajectory, the target trajectory is parallel to a center line of a lane, and the target trajectory is located in an area between the center line of the lane and a boundary of the lane, or on the boundary