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公开(公告)号：US12131430B2
公开(公告)日：2024-10-29
申请号：US18169165
申请日：2023-02-14
Applicant: TSINGHUA UNIVERSITY
Inventor： Shaobing Xu , Shangyi Li , Shuocheng Yang , Jianqiang Wang , Shengbo Li , Bo Cheng , Keqiang Li
CPC classification number: G06T19/006 , B60W40/02 , B60W60/00 , G01M17/007 , G06T19/20 , G06V20/56 , B60W2556/45
Abstract: The embodiments provide a method of augmenting environmental scenes and an autonomous vehicle testing system. The method includes: obtaining, from an autonomous vehicle, image data representing an image, which depicts an environment where the autonomous vehicle drives; generating virtual object graphics representing virtual object(s) that, when rendered over the image, result in an object-augmented image; generating global scene graphics based on the object-augmented image that, when rendered along with the object-augmented image, result in a visual representation as the environment would appear when experiencing predetermined weather conditions; generating detailed weather effect graphics representing detailed weather effect(s); generating a composite weather-object-augmented image based on the virtual object graphics, the global scene graphics, and the detailed weather effect graphics; and causing the composite weather-object-augmented image to be inputted into an onboard vehicle controller of the autonomous vehicle.
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公开(公告)号：US12091015B2
公开(公告)日：2024-09-17
申请号：US17623858
申请日：2021-05-27
Applicant: CHINA INTELLIGENT AND CONNECTED VEHICLES (BEIJING) RESEARCH INSTITUTE CO., LTD. , Tsinghua University
Inventor： Keqiang Li , Wenbo Chu , Qiuchi Xiong , Qiqige Wuniri , Guanfu Huang , Dalong Fang , Xiaoping Du
CPC classification number: B60W30/18163 , B60W40/04 , B60W2552/05 , B60W2552/10 , B60W2554/4041 , B60W2554/4042 , B60W2554/4049
Abstract: The present application provides a method and device for merging a vehicle from a branch road into a main road, an electronic device, and a storage medium, which relates to a technical field of unmanned driving. The method for merging the vehicle from the branch road into the main road includes: acquiring vehicle information of the vehicle to be merged from the branch road into the main road; acquiring traffic flow information of an outer lane of the main road within a preset range of a junction; controlling the vehicle to be merged into the main road to merge into the main road according to the preset rules based on the traffic flow information of the outer lane of the main road and the vehicle information of the vehicle to be merged into the main road.
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Patent Agency Ranking
公开(公告)号：US12073715B2
公开(公告)日：2024-08-27
申请号：US17623860
申请日：2021-05-27
Applicant: CHINA INTELLIGENT AND CONNECTED VEHICLES (BEIJING) RESEARCH INSTITUTE CO., LTD. , Tsinghua University
Inventor： Wenbo Chu , Keqiang Li , Xiaoping Du , Qiqige Wuniri , Bin Liu , Dongxin Lv
IPC: G06F12/12 , G06F12/128 , G08G1/01
CPC classification number: G08G1/0133 , G06F12/128
Abstract: The present application discloses an edge cloud system, a server, and a cloud control platform. The edge cloud system includes: an edge cloud access gateway module configured to access data of the road side terminal, the vehicle terminal, the third party platform and the regional cloud; a standardized hierarchical sharing interface module connected to the edge cloud access gateway module, wherein the standardized hierarchical sharing interface module is configured to standardize and classify the data of the road side terminal, the vehicle terminal, the third party platform and the regional cloud accessed by the edge cloud access gateway module to form multiple levels of standardized data; wherein standardized data at each level of the multiple levels of standardized data is available to be called only by a module with corresponding level of that of the standardized data.
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公开(公告)号：US11984028B2
公开(公告)日：2024-05-14
申请号：US17623550
申请日：2021-05-27
Applicant: China Intelligent and Connected Vehicles (Beijing) Research Institute Co., Ltd , Tsinghua University
Inventor： Keqiang Li , Wenbo Chu , Qiuchi Xiong , Qiqige Wuniri , Guanfu Huang , Xiaoping Du
IPC: G08G1/0967 , G06V20/54 , G08G1/0968
CPC classification number: G08G1/096725 , G06V20/54 , G08G1/096811
Abstract: The application provides a method, device, electronic device for vehicle cooperative decision-making as well as a computer storage medium. The method for vehicle cooperative decision-making applied at a cloud server includes: receiving a cooperative decision request sent by a roadside device, wherein the cooperative decision request is a request sent by the roadside device after it is recognized that a road is congested based on acquired real-time road information; acquiring information of a road scene included in the cooperative decision request; determining a congestion scene type based on the information of the road scene; calculating multi-vehicle oriented decision planning schemes using a preset scene cooperative decision model based on the congestion scene type; and sending the decision planning schemes to respective vehicles, so that the vehicles perform respective driving operations according to the decision planning schemes.
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公开(公告)号：US11541867B2
公开(公告)日：2023-01-03
申请号：US16508953
申请日：2019-07-11
Applicant: Tsinghua University
Inventor： Shengbo Li , Bo Cheng , Keqiang Li , Hongbo Gao , Qingfeng Lin , Xuedong Liu , Zhitao Wang , Ziyu Lin , Jianqiang Wang , Yugong Luo , Diange Yang
Abstract: A power system of a vehicle includes an engine, a first motor and a second motor. A method for controlling motion of the vehicle includes: receiving a cruise speed, a speed fluctuation quantity and a preset traveling mileage of the vehicle, and obtaining an upper speed bound and a lower speed bound of the vehicle based on the cruise speed and the speed fluctuation quantity; adjusting a current speed of the vehicle to the lower speed bound, and controlling the vehicle to enter a first cruise phase of a two-phase cruise mode; and controlling the vehicle to enter a second cruise phase of the two-phase cruise mode when the current speed of the vehicle is greater than or equal to the upper speed bound and a current traveling mileage is less than the preset traveling mileage.
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公开(公告)号：US11136030B2
公开(公告)日：2021-10-05
申请号：US16746908
申请日：2020-01-19
Applicant: Tsinghua University
Inventor： Shengbo Li , Bo Cheng , Keqiang Li , Hongbo Gao , Xiaoxue Zhang , Renjie Li , Zhitao Wang , Hailiang Chen , Jianqiang Wang , Yugong Luo , Diange Yang
Abstract: The present disclosure provides a method and a device for controlling a vehicle. The vehicle is in a vehicle queue, the vehicle queue includes n vehicles {vehicle 0, vehicle 1, . . . , vehicle n−1} arranged in order along a traveling direction, the method is performed by a computing device of the vehicle i, i is from 1 to n−1. A vehicle-following subsystem model is established based on the relative speed and the relative vehicle distance error between the vehicle i and a vehicle i−1, and the acceleration of the vehicle i, a state trajectory of the vehicle-following subsystem model on a Δv-ΔR plane is determined, a plurality of division graphs of the vehicle i−1 in a plurality of travelling phases are combined to obtain a switching control graph for the vehicle i, and the travelling phase of the vehicle i is adjusted.
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公开(公告)号：US11912286B2
公开(公告)日：2024-02-27
申请号：US16755892
申请日：2018-05-14
Applicant: TSINGHUA UNIVERSITY
Inventor： Jianqiang Wang , Heye Huang , Xunjia Zheng , Keqiang Li , Qing Xu , Shengbo Li , Likun Wang , Ziqing Gu , Jiawei Wang
IPC: B60W40/09 , G07C5/08 , B60W50/04 , B60R16/023 , G01S13/86
CPC classification number: B60W40/09 , B60W50/045 , G07C5/0808 , B60R16/0231 , B60W2050/041 , B60W2420/42 , B60W2420/52 , B60W2540/10 , B60W2540/12 , G01S13/867
Abstract: A method for calibrating a driving risk identification model includes: S1. establishing a vehicle platform by installing an information acquisition device on a test vehicle; S2. acquiring synchronized test data related to the test vehicle and driving scenarios; S3. extracting moments when the drivers start to press the accelerator pedal, start to release the accelerator pedal, start to press the brake pedal in the driving scenarios, and start to release the brake pedal, so as to define risk level values respectively corresponding to the moments; S4. obtaining a risk identification curve of the drivers in different driving scenarios, wherein the risk identification curve represents the drivers' judgment of the risk level over time; S5. using the risk identification curve to calibrate the driving risk identification model.
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