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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：US20210089793A1
公开(公告)日：2021-03-25
申请号：US16914082
申请日：2020-06-26
Inventor： Shuang ZHANG , Xiang Liu , Bin Gao , Xiaoxing Zhu , Jingjing Xue
Abstract: A method and apparatus for processing information are provided. A specific embodiment of the method includes: identifying at least one obstacle from a point cloud collected by a lidar during a traveling process of a vehicle; for an obstacle in the at least one obstacle, determining an appearance rate of the obstacle within a life cycle corresponding to the obstacle; determining a confidence degree of a grid region of at least one grid region based on appearance rates of obstacles in the at least one obstacle; determining a target grid region from the at least one grid region based on the confidence degree, and determining whether an obstacle detected in the target grid region is an obstacle detected for a first time; and if yes, filtering out a point cloud corresponding to the obstacle detected in the target grid region for the first time.
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Patent Agency Ranking
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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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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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：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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公开(公告)号：US20210090296A1
公开(公告)日：2021-03-25
申请号：US16914121
申请日：2020-06-26
Inventor： Shuang ZHANG , Xiang Liu , Bin Gao , Xiaoxing Zhu , Fan Yang , Junping Wang
Abstract: A method and apparatus for calibrating a camera are provided. A specific embodiment of the method includes: acquiring an image-point cloud sequence, the image-point cloud sequence including at least one group of an initial image and point cloud data collected at a same time, the initial image being collected by a camera provided on an autonomous vehicle and the point cloud data being collected by a radar provided on the autonomous vehicle; determining target point cloud data of initial images corresponding to groups of image-point cloud in the image-point cloud sequence; and matching the target point cloud data with the corresponding initial images in the image-point cloud sequence to determine a correction parameter of the camera.
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