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

IPC: G06T19/00 ,  B60W40/02 ,  B60W60/00 ,  G01M17/007 ,  G06T19/20 ,  G06V20/56

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.

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

IPC: B60W20/12 ,  B60W10/06 ,  B60W10/08 ,  B60W30/14

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.

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

IPC: B60W30/16 ,  B60W10/04 ,  B60W40/04 ,  B60W50/00 ,  G08G1/052 ,  G08G1/00 ,  H04W4/46

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.