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公开(公告)号：US11593964B2
公开(公告)日：2023-02-28
申请号：US17327052
申请日：2021-05-21
Inventor： Xiang Liu , Shuang Zhang , Bin Gao , Xiaoxing Zhu , Fan Yang
Abstract: Embodiments of the present disclosure relate to methods and apparatuses for outputting information and calibrating a camera. The method may include: acquiring a first image, a second image, and a third image, the first image being an image photographed by a to-be-calibrated camera, the second image being a high-precision map image including a target area indicated by the first image, and the third image being a reflectance image including the target area; fusing the second image and the third image to obtain a fused image; determining a matching point pair based on points selected by a user in the first image and the fused image; and calibrating the to-be-calibrated camera based on coordinates of the matching point pair.
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公开(公告)号：US20220035015A1
公开(公告)日：2022-02-03
申请号：US17278248
申请日：2019-12-18
Inventor： Xiaoxing Zhu , Xiang Liu , Fan Yang
IPC: G01S7/52 , G01S17/42 , G01S15/42 , G01S15/931 , G01S17/931 , G06N3/08
Abstract: The present disclosure provides a method and system for processing an obstacle detection result of an ultrasonic sensor array. The method comprises: obtaining obstacle coordinates collected by ultrasonic sensors in an ultrasonic sensor array; inputting the obstacle coordinates collected by ultrasonic sensors in the ultrasonic sensor array into a pre-trained neural network model, to obtain true or false labels for the obstacle coordinates collected by the ultrasonic sensors output by the pre-trained neural network model; process the obstacle coordinates collected by the ultrasonic sensors in the ultrasonic sensor array according to the true or false labels. The present disclosure improves the accuracy in the obstacle detection of the ultrasonic sensor array, avoids detection error and omission and improves the driving safety.
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公开(公告)号：US11933893B2
公开(公告)日：2024-03-19
申请号：US17278646
申请日：2019-12-23
Inventor： Xiaoxing Zhu , Xiang Liu , Fan Yang
IPC: G01S15/931 , G01S7/521 , G01S7/53
CPC classification number: G01S15/931 , G01S7/521 , G01S7/53 , G01S2015/938
Abstract: The present disclosure provides an ultrasonic radar array, an obstacle detection method and system. The method includes: obtaining obstacle information collected by ultrasonic radars in an ultrasonic radar array in an obstacle scenario; judging false detection and missed detection for the obstacle information collected by ultrasonic radars according a preset rule; processing the obstacle information collected by the ultrasonic radars according to the judgement result; determining a position of the obstacle according to the processed obstacle information collected by the ultrasonic radars.
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4.发明授权公开(公告)号：US11138874B2
公开(公告)日：2021-10-05
申请号：US17037421
申请日：2020-09-29
Inventor： Xuan Huang , Fan Yang , Hui Yuan , Yongyi Sun , Chengfa Wang , Qiqi Xu
Abstract: A timing control method and a timing control apparatus for a signal light, and a storage medium are disclosed. The method includes: determining an optimal passing-through duration of a signal light corresponding to each passing-through direction at a target intersection according to traffic in the passing-through direction; determining a range of values for each variable in a calibration function corresponding to the target intersection according to a constraint to each passing-through direction at the target intersection, wherein the calibration function comprises the optimal passing-through duration corresponding to each passing-through direction and a variable corresponding to a final passing-through duration in each passing-through direction; and calculating the final passing-through duration in each passing-through direction in a case where the calibration function meets a preset condition, according to the range of values for each variable.
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公开(公告)号：US11933921B2
公开(公告)日：2024-03-19
申请号：US17278248
申请日：2019-12-18
Inventor： Xiaoxing Zhu , Xiang Liu , Fan Yang
IPC: G01S7/52 , G01S15/42 , G01S15/931 , G01S17/42 , G01S17/931 , G06N3/08
CPC classification number: G01S7/52004 , G01S15/42 , G01S15/931 , G01S17/42 , G01S17/931 , G06N3/08 , G01S2015/938
Abstract: The present disclosure provides a method and system for processing an obstacle detection result of an ultrasonic sensor array. The method comprises: obtaining obstacle coordinates collected by ultrasonic sensors in an ultrasonic sensor array; inputting the obstacle coordinates collected by ultrasonic sensors in the ultrasonic sensor array into a pre-trained neural network model, to obtain true or false labels for the obstacle coordinates collected by the ultrasonic sensors output by the pre-trained neural network model; process the obstacle coordinates collected by the ultrasonic sensors in the ultrasonic sensor array according to the true or false labels. The present disclosure improves the accuracy in the obstacle detection of the ultrasonic sensor array, avoids detection error and omission and improves the driving safety.
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Patent Agency Ranking
公开(公告)号：US11648936B2
公开(公告)日：2023-05-16
申请号：US16895299
申请日：2020-06-08
Inventor： Bin Gao , Xiang Liu , Shuang Zhang , Xiaoxing Zhu , Fan Yang
IPC: B60W30/09 , B60W60/00 , B60W30/095
CPC classification number: B60W30/09 , B60W30/0956 , B60W60/0016 , B60W2554/80
Abstract: A method and apparatus for controlling a vehicle is disclosed. The method may include: determining center points of at least two frames of point clouds collected for an identified obstacle during travelling of the vehicle; performing curve fitting based on the determined center points to obtain a fitted curve; determining a moving velocity of the obstacle based on the fitted curve; predicting whether the vehicle is to be collided with the obstacle when the vehicle continues travelling at a current velocity, based on the moving velocity of the obstacle, the traveling velocity of the vehicle, and a distance between the obstacle and the vehicle; and sending control information to the vehicle, in response to predicting that the vehicle is to be collided with the obstacle when the vehicle continues travelling at the current velocity, the control information being used to control the vehicle to avoid collision with the obstacle.
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公开(公告)号：US11443621B2
公开(公告)日：2022-09-13
申请号：US17115328
申请日：2020-12-08
Inventor： Qiqi Xu , Fan Yang , Yongyi Sun , Chengfa Wang , Xuan Huang
Abstract: A method and apparatus for adjusting channelization of a traffic intersection are proposed. The specific implementation of the method is: obtaining a first traffic characteristic of vehicles at each of a plurality of target positions in a process of vehicles in a target traveling direction traveling through the traffic intersection from upstream to downstream in a preset first time period; generating first traffic change information of the traffic intersection based on the first traffic characteristic at each of the plurality of target positions; and in response to that the first traffic change information satisfies a preset first change distribution, generating channelization adjustment information for non-motorized vehicle lanes of the traffic intersection.
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公开(公告)号：US11216977B2
公开(公告)日：2022-01-04
申请号：US16912360
申请日：2020-06-25
Inventor： Xiang Liu , Shuang Zhang , Bin Gao , Xiaoxing Zhu , Fan Yang
Abstract: Embodiments of the present disclosure relate to methods and apparatuses for outputting information and calibrating a camera. The method may include: acquiring a first image, a second image, and a third image, the first image being an image photographed by a to-be-calibrated camera, the second image being a high-precision map image including a target area indicated by the first image, and the third image being a reflectance image including the target area; fusing the second image and the third image to obtain a fused image; determining a matching point pair based on points selected by a user in the first image and the fused image; and calibrating the to-be-calibrated camera based on coordinates of the matching point pair.
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9.发明授权公开(公告)号：US11173927B2
公开(公告)日：2021-11-16
申请号：US16709765
申请日：2019-12-10
Inventor： Ning Yu , Chengfa Wang , Fan Yang , Leibing Lv , Junping Wang
Abstract: A method, an apparatus, a computer device and a storage medium for autonomous driving determination are proposed. The method includes: obtaining information about a driving scenario of an autonomous vehicle when a preset trigger condition is met; comparing the information about the driving scenario with an autonomous driving capability of the autonomous vehicle; determining, according to a comparison result, whether the autonomous vehicle is adapted to employ an autonomous driving mode in the driving scenario. The technical solution of the present disclosure may be applied to improve the safety of the vehicle and the user.
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10.发明授权公开(公告)号：US11164447B2
公开(公告)日：2021-11-02
申请号：US16653703
申请日：2019-10-15
Inventor： Ning Yu , Chengfa Wang , Fan Yang
Abstract: A method, an apparatus and a storage medium for evacuating a person around an autonomous vehicle are proposed. The method includes: obtaining data about surrounding of the autonomous vehicle during the driving of the autonomous vehicle; recognizing a person with onlooker intention within a predetermined range around the autonomous vehicle according to the data obtained; evacuating the person with onlooker intention in a predetermined manner. The technical solution may be applied to ensure normal driving of the autonomous vehicle.
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