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.

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.