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51.发明授权公开(公告)号：US11714174B2
公开(公告)日：2023-08-01
申请号：US16117953
申请日：2018-08-30
发明人： Bosheng Wang , Yuanfan Xie , Jun Wang , He Yan , Liang Wang
摘要： The method comprises: creating a 3D scenario model of a calibration scenario, based on data of the calibration scenario collected by an already-calibrated 3D scanner; obtaining point cloud data collected by a to-be-calibrated multi-line laser radar at a plurality of position points in the calibration scenario respectively; aligning the point cloud data collected by the multi-line laser radar at the respective point points and point cloud data in the 3D scenario model into the same coordinate system on a principle that the respective position points are aligned with corresponding position points in the 3D scenario model; building a target function between data of points collected by the multi-line laser radar and data of matching points nearest to the points in the 3D scenario model, under the same coordinate system; calibrating the parameters of the multi-line laser radar according to the target function.
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公开(公告)号：US20230162474A1
公开(公告)日：2023-05-25
申请号：US18089709
申请日：2022-12-28
发明人： Yuzhe HE , Yao ZHOU , Shenhua HOU , Liang PENG , Guowei WAN
IPC分类号： G06V10/75 , G06T7/73 , G06V10/46 , G06V10/764 , G06V10/77 , G06V10/80 , G06V10/774
CPC分类号： G06V10/757 , G06T7/74 , G06V10/46 , G06V10/764 , G06V10/774 , G06V10/806 , G06V10/7715 , G06T2207/20081
摘要： A method of processing an image, a method of training a multi-task processing model, and an electronic device, which relate to a field of an automatic driving technology, in particular to a field of high-definition map technology. The method of processing an image includes: processing a to-be-processed image to obtain a feature point of the to-be-processed image, a feature point descriptor map of the to-be-processed image, and a dense descriptor map of the to-be-processed image; determining a pair of matched feature points between the to-be-processed image and a reference image based on the feature point and the feature point descriptor map; and determining a pair of matched pixels between the to-be-processed image and the reference image based on the dense descriptor map.
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公开(公告)号：US20230147521A1
公开(公告)日：2023-05-11
申请号：US18047186
申请日：2022-10-17
CPC分类号： G01C21/387 , G01C21/3837 , G01C21/3492
摘要： Disclosed are high-precision-map data collection methods, devices and storage mediums, which relate to the field of computer technologies, and particularly to the fields of big data technologies, autonomous driving technologies, intelligent transportation technologies, or the like. The data collection method includes: receiving a collection task generated by a server, where the collection task includes to-be-collected track points; generating a navigation path based on the to-be-collected track points, and displaying the navigation path; and acquiring map data collected at the to-be-collected track points when a vehicle travels based on the navigation path.
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公开(公告)号：US11624827B2
公开(公告)日：2023-04-11
申请号：US16459687
申请日：2019-07-02
发明人： Li Yu , Shiyu Song , Fangfang Dong
摘要： A method and an apparatus for generating a high precision map, and a storage medium for generating a high precision map. The method includes: performing a point cloud splicing process on target point cloud data to obtain a lidar pose corresponding to the target point cloud data; projecting the target point cloud data into a preset two-dimensional area based on the lidar pose to generate a map based on a reflection value and a height value; performing a self-positioning verification on the map based on the reflection value and the height value using the target point cloud data; and integrating, if a result of the self-positioning verification satisfies a preset condition, the map based on the reflection value and the height value into a reference map to generate the high precision map.
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公开(公告)号：US20230072632A1
公开(公告)日：2023-03-09
申请号：US17814461
申请日：2022-07-22
发明人： Lei ZHANG , Kai YANG , Qijuan YIN , Wuzhao ZHANG , Xiaoyan WANG
IPC分类号： G06V10/80 , G06V10/776 , G06V20/58
摘要： There is provided an obstacle detection method, an electronic device and a storage medium, which relates to the field of computer technologies, and particularly to the fields of autonomous driving technologies, intelligent transportation technologies, Internet of Things technologies, deep learning technologies, or the like. The method for detecting obstacle includes: detecting an obstacle in a vehicle traveling process using plural obstacle detection manners to obtain plural initial detection results of the obstacle, the plural initial detection results corresponding to the plural obstacle detection manners; fusing the plural initial detection results to obtain a fusion result; and obtaining a final detection result of the obstacle based on the fusion result.
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公开(公告)号：US11562307B2
公开(公告)日：2023-01-24
申请号：US16718016
申请日：2019-12-17
发明人： Zijie Wang , Yingnan Liu , Wenlong Rao , Jingjing Xue , Yue Wang
IPC分类号： G06Q10/06 , G08G1/133 , H04N21/2187 , G06V20/59 , G06V40/16
摘要： The present disclosure provides a vehicle passenger flow statistical method, including: acquiring, by a server, door opening time and door closing time of a vehicle during any one door opening and closing process of door opening and closing processes in a pending statistical period; acquiring, by the server, a first set of images and a second set of images in a carriage of the vehicle according to the door opening time and the door closing time; and acquiring, by the server, the number of on-board people and the number of off-board people during the door opening and closing process according to the first set of images and the second set of images. The present disclosure can improve efficiency and accuracy of passenger flow statistics according to which an operation plan of the vehicle may be optimized timely and effectively.
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公开(公告)号：US11535265B2
公开(公告)日：2022-12-27
申请号：US16708560
申请日：2019-12-10
发明人： Fan Yang , Yunlong Li , Chen Chen , Rongxun Jing
IPC分类号： B60W50/02 , G06K9/62 , B60W30/18 , B60W50/038
摘要： The present application provides a point cloud data processing method, an apparatus, a device, a vehicle, and a storage medium, the method includes: acquiring, according to a preset frequency, raw data collected by sensors on a vehicle; and performing, according to the raw data of the sensors, data fusion processing to obtain a fusion result. By acquiring, according to the preset frequency, the raw data collected by the sensors on the vehicle in a latest period, and performing the data fusion processing to obtain the fusion result, a synchronous clock source may be removed, a weak clock synchronization may be realized, and the cost may be effectively reduced. The preset frequency may be flexibly set, which, when set with a larger value, can reduce a time difference between the raw data of the sensors and improve data accuracy.
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58.发明授权公开(公告)号：US11529971B2
公开(公告)日：2022-12-20
申请号：US16911516
申请日：2020-06-25
发明人： Dongchun Yao , Leibing Lv , Jingjing Xue , Fan Zhu
IPC分类号： B60W60/00
摘要： The present application discloses a method and an apparatus for autonomous driving control, an electronic device, and a storage medium; the application relates to the technical field of autonomous driving. A specific implementation solution is: obtaining movement data of a pedestrian, where the movement data includes a velocity component of the pedestrian along a width direction of a lane and a time of duration that the pedestrian cuts into a driving path of the autonomous vehicle from one side; determining a movement direction of the pedestrian according to the movement data and the movement information of the pedestrian; and generating a driving strategy for the autonomous vehicle according to the movement direction of the pedestrian. Therefore, the movement direction of the pedestrian can be accurately predicted, which facilitates the autonomous vehicle to avoid the pedestrian and insures driving safety.
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公开(公告)号：US20220392329A1
公开(公告)日：2022-12-08
申请号：US17891802
申请日：2022-08-19
发明人： Changsen CHU , Jia SONG
摘要： A computer-implemented method for assisted parking, an electronic device, and a storage medium are provided. The method for assisted parking includes: obtaining a set of images around a vehicle; determining environment information for the vehicle based on the set of images; obtaining location information associated with a target parking location according to the environment information; and sending the location information to provide such to a user terminal.
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公开(公告)号：US11511774B2
公开(公告)日：2022-11-29
申请号：US17024629
申请日：2020-09-17
发明人： Yue Wang , Zelin Wu , Jingjing Xue , Yingnan Liu , Wenlong Rao , Zijie Wang , Wei Gong
摘要： A method and an apparatus for controlling an autonomous driving vehicle are provided. The method includes: receiving environment information sent by an autonomous driving vehicle, the environment information including vehicle exterior environment information; determining whether the autonomous driving vehicle is in an abnormal operation status, based on the vehicle exterior environment information and operation information of an operation executed by the autonomous driving vehicle; and sending a braking control instruction and a data acquisition instruction to the autonomous driving vehicle, in response to determining that the autonomous driving vehicle is in the abnormal operation status, the braking control instruction being used for controlling braking of the autonomous driving vehicle, and the data acquisition instruction being used for acquiring data of a driving recorder in the autonomous driving vehicle.
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