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公开(公告)号：WO2022105367A1
公开(公告)日：2022-05-27
申请号：PCT/CN2021/116747
申请日：2021-09-06
Inventor： ZHANG, Xinshi , WU, Zongze , YANG, Fan
IPC: B60W40/105 , B60W40/107 , B60W10/10
Abstract: Embodiments of the specification provide a gear adjustment method, apparatus, and device for an autonomous vehicle. The method comprises: obtaining a current gear of the vehicle and a current velocity of the vehicle; determining that the current velocity is higher than a minimum upshifting velocity for upshifting from the current gear; calculating, based on an upshifting relationship table of the vehicle, a target acceleration for upshifting from the current gear at the current velocity, wherein the upshifting relationship table includes at least one upshifting point for at least one gear, each upshifting point for a gear comprising a predetermined correspondence between a velocity and acceleration of the vehicle for upshifting from said gear; generating an adjustment signal based on the target acceleration, the adjustment signal being used to instruct a vehicle control module to adjust an acceleration of the vehicle to the target acceleration; and sending the adjustment signal to the vehicle control module, such that the vehicle control module performs an upshifting operation after the vehicle reaches the target acceleration.
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公开(公告)号：WO2022100265A1
公开(公告)日：2022-05-19
申请号：PCT/CN2021/117913
申请日：2021-09-13
Inventor： GONG, Weilin , ZHENG, Jingsen , SUN, Heng
IPC: G06T7/80
Abstract: a camera calibration method, apparatus, and system are provided. The method includes the steps of: obtaining radar detection data and at least two detection images acquired at the same moment, the radar detection data being detected by using the radar (102) on the mounting platform (101), the at least two detection images being captured by the at least two cameras (1031) in the camera assembly on the mounting platform (101) (201); determining a first distance between the mounting platform (101) and a detection target according to the radar detection data (202); determining a second distance between the mounting platform (101) and the detection target according to positions of the detection target in the at least two detection images and a relative pose between the at least two cameras (1031) (203); and minimizing an error between the second distance and the first distance by adjusting the relative pose between the at least two cameras (1031) (204).
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3.发明申请
公开(公告)号：WO2021109554A1
公开(公告)日：2021-06-10
申请号：PCT/CN2020/098223
申请日：2020-06-24
Inventor： HAN, Pingliang , CHAI, Jiafeng , RONG, Li , WANG, Lei , TONG, Xun , ZHANG, Xinshi , SHANG, Bohan , LI, Zhishan , WANG, Wenbin , ZHANG, Xiaofeng , JIANG, Di , YANG, Fan , ZHAO, Chen
IPC: B60W40/10
Abstract: A longitudinal control system and method for an autonomous vehicle based on feed forward control are provided. The system comprises a reference model. An output of the reference model is generated according to a preset vehicle model and a reference input. The system obtains a first error according to the output of the reference model and a current state of the system. The output of the reference model is adjusted according to the type of the vehicle and the first error to obtain the adjusted output of the reference model. A feed forward output is obtained according to an input and an output of the vehicle. A control value of the system is obtained according to the adjusted output of the reference model and the feed forward output. The control value is output to a drive-by-wire module to change the operation of the vehicle.
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4.发明申请
公开(公告)号：WO2022105395A1
公开(公告)日：2022-05-27
申请号：PCT/CN2021/118215
申请日：2021-09-14
Inventor： WU, Zongze , XING, Qianli , YANG, Fan
IPC: G06F30/20
Abstract: A data processing method, apparatus, and system, a computer device, and a non-transitory storage medium, which belong to the field of computer technologies. In the data processing method, scenario data used for self-driving simulation is generated according to road test data acquired by a vehicle (101, 500) in an actual travel process, the scenario data may truly reproduce actual road conditions and noise interference, to cause a path planning model to have a more realistic simulation effect during debugging, which helps to obtain a path planning model with higher accuracy through debugging, that is, to obtain a self-driving algorithm with higher accuracy, thereby improving the intelligence of a self-driving vehicle.
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公开(公告)号：WO2021103513A1
公开(公告)日：2021-06-03
申请号：PCT/CN2020/098284
申请日：2020-06-24
Inventor： SHOU, Ruyang , GUO, Jinwen , WANG, Lei
IPC: G06T15/00
Abstract: A method and an apparatus for rendering a point cloud scene are provided. A point cloud scene is rendered by acquiring a first point of view, a first angle of view, and origin coordinates of voxels in a target point cloud scene (S101). Voxels in a visible area according to the first point of view, the first angle of view, and the origin coordinates of the voxels in the target point cloud scene are determined (S102). Point cloud data corresponding to the voxels in the visible area are stored into a cache (S103) and a point cloud scene is rendered at a level of detail based on the stored point cloud data (S105).
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Patent Agency Ranking
公开(公告)号：WO2021082483A1
公开(公告)日：2021-05-06
申请号：PCT/CN2020/098217
申请日：2020-06-24
Inventor： FANG, Xiao , WANG, Lei , HOU, Guangda , LI, Jingcai , HUANG, Linlin , WANG, Xiufeng
IPC: B60W30/182 , B60W50/14
Abstract: A method for controlling a vehicle is provided. The method comprising: detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction; performing an automatic control over the target vehicle according to the target path; and stopping the automatic control over the target vehicle when the target vehicle reaches a first road segment included in the target path that is not suitable for automatic control, and controlling the target vehicle according to a detected driving operation.
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公开(公告)号：WO2022073388A1
公开(公告)日：2022-04-14
申请号：PCT/CN2021/113031
申请日：2021-08-17
Inventor： LIU, Chennan , HAN, Pingliang , CUI, Dixiao , HOU, Guangda
Abstract: A data transmission method, an apparatus a vehicle-mounted device, and a storage medium are provided. The invention pertains to the technical field of automated driving. The method comprises: obtaining a set of travelling data generated by a vehicle, wherein the set of travelling data is used to record travelling status of the vehicle (201); filtering, from the set of travelling data in response to an anomalous event, travelling data associated with the anomalous event so as to obtain a first data subset, wherein the anomalous event comprises at least one of a vehicle travelling anomaly, a travelling environment anomaly, and a vehicle status anomaly (202); and transmitting the first data subset (203). An amount of data to be transmitted is reduced and the transmission efficiency of data is improved, so that data of relatively great significance for utilization can be transmitted in a short time, which improves the immediacy of data transmission.
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公开(公告)号：WO2021128777A1
公开(公告)日：2021-07-01
申请号：PCT/CN2020/098286
申请日：2020-06-24
Inventor： CUI, Dixiao , JIANG, Zhihao , XU, Shengliang , GUO, Jinwen , WANG, Lei
IPC: G01S17/89 , G01S17/931 , G06K9/00 , G06T7/13 , G01C21/165 , G01C21/28 , G01S17/86 , G01S19/42
Abstract: It provides a method for detecting a travelable region. The method comprises acquiring three-dimensional point cloud data measured by a vehicle in a current frame, wherein the three-dimensional point cloud data comprises three-dimensional coordinate information of multiple laser points within the surrounding sensing area of the vehicle (301); determining an obstacle region within the surrounding sensing area according to the three-dimensional point cloud data, wherein the obstacle region means a region occupied by an obstacle (302); acquiring a global positioning system (GPS) track corresponding to a current traveling position of the vehicle, and performing displacement operations on the GPS track to obtain multiple reference tracks (303); determining a candidate road surface boundary line from the multiple reference tracks according to each reference track and the obstacle region (304); and correcting the candidate road surface boundary line according to three-dimensional point cloud data of multiple laser points close to the candidate road surface boundary line, to obtain a road surface boundary line in the current frame (305).
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9.发明申请
公开(公告)号：WO2022105394A1
公开(公告)日：2022-05-27
申请号：PCT/CN2021/118205
申请日：2021-09-14
Inventor： HAN, Pingliang , SHANG, Bohan , WANG, Wei
IPC: G05D1/02
Abstract: Disclosing a simulation method and system, a device, a readable storage medium, and a platform for autonomous driving, and relates to the field of simulated driving. The method comprises: obtaining a reference driving data set; running a simulated driving platform according to reference land data; obtaining simulated vehicle attitude data of a simulated vehicle in real time; determining a deviation in position between the simulated vehicle attitude data and reference vehicle attitude data; and planning a driving trajectory of the simulated vehicle according to the deviation in position and a correspondence between reference traffic data and the reference vehicle attitude data to obtain closed-loop simulation data of simulated driving. It can improve the accuracy of a simulated driving test and the authenticity of the simulated driving test.
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公开(公告)号：WO2022105393A1
公开(公告)日：2022-05-27
申请号：PCT/CN2021/118060
申请日：2021-09-13
Inventor： WU, Jiaxuan , HAN, Pingliang , CHAI, Jiafeng
IPC: B60W50/00 , B62D137/00 , B62D6/00
Abstract: This specification provides a method, a system, and a device for controlling a driving direction of a vehicle. The method includes: obtaining a preset reference track of a vehicle; obtaining pose information of the vehicle in real time, where the pose information includes a position and an attitude of the vehicle; calculating, according to the pose information and a preview point on the preset reference track, a tracking deviation of the vehicle deviating from the preset reference track; generating a steering wheel command based on a preset transition time and the tracking deviation when the tracking deviation is greater than a preset deviation threshold, where the steering wheel command indicates a steering wheel angle required to be made by a vehicle; and sending the steering wheel command to a vehicle control system to control a driving direction of the vehicle. By using the embodiments of this specification, an overshoot phenomenon of a vehicle can be effectively reduced and the traveling safety of the vehicle can be improved.
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