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公开(公告)号：US20180189575A1
公开(公告)日：2018-07-05
申请号：US15628667
申请日：2017-06-21
CPC分类号： G06K9/00791 , G01C11/04 , G01S13/726 , G01S13/865 , G01S13/867 , G01S13/91 , G06K9/6215 , G06K2209/21
摘要： Provided is a method for generating target detection information, including detecting target objects around the vehicle by multiple different types of sensors, and determining the detection targets representing a same target object, detected by the different types of sensors, by spatial position and time tracing. With taking the target object as the detection result, the target detection information generated for the detection result includes a spatial matching confidence of the detection result in the current detection period, a time matching confidence of the detection result, and target detection information on each of the detection targets representing the detection result, collected by the sensor detecting the detection target in a dimension corresponding to the sensor.
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公开(公告)号：US10821979B2
公开(公告)日：2020-11-03
申请号：US16112662
申请日：2018-08-25
摘要： A method and a device for automatically reversing a vehicle are provided. A forward track of a target vehicle is recorded in a forward process of the target vehicle. The target vehicle is controlled to be reversed from a current position and the target vehicle is controlled to be reversed along the forward track by adjusting a steering wheel angle of the target vehicle at each reversing moment, when an automatic reversing instruction for the target vehicle is detected after the target vehicle stops moving forward. The target vehicle is controlled to stop being reversed when a reversing stop instruction for the target vehicle is detected in a reversing process.
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公开(公告)号：US20190391583A1
公开(公告)日：2019-12-26
申请号：US16125674
申请日：2018-09-08
发明人： Zuotao NING , Wei LIU , Wei LIU
IPC分类号： G05D1/02
摘要： A method and a device for detecting a road boundary are provided. The method includes: sending, at a current detection moment, multiple detection beams to a road where a target vehicle is located by using a detection device installed on the target vehicle; obtaining echo signals of the detection beams reflected by the road; determining target coordinates of detection points on the road corresponding to the detection beams in the same coordinate system based on the echo signals of the detection beams; and determining a road boundary on the road based on the target coordinates of the detection points.
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公开(公告)号：US20190129437A1
公开(公告)日：2019-05-02
申请号：US15954638
申请日：2018-04-17
发明人： Wei Liu , Wei Liu , Zuotao Ning
摘要： A method, device and system for controlling a vehicle passing through an intersection are provided. The method includes generating a reference running track based on coordinate of first road from which the vehicle is to leave and coordinate of second road into which the vehicle is to enter. The first road and the second road intersect at the intersection through which the vehicle is to pass. The method further includes generating, in real time, a preview track of vehicle based on coordinate of centroid of the vehicle, course of the vehicle and coordinate of the second road, comparing the preview track with the reference running track and acquiring running speed limit and turning angle of the vehicle based on the comparing, and controlling the vehicle to run at the turning angle and a running speed less than or equal to the running speed limit.
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公开(公告)号：US20180060677A1
公开(公告)日：2018-03-01
申请号：US15361074
申请日：2016-11-25
发明人： Wenjing Bai , Yingfang Du , Wei Liu , Huai Yuan
CPC分类号： G06K9/00798 , B60R11/04 , G06K9/40 , G06K9/52 , G06K9/627 , G06K9/628 , H04N5/23293 , H04N7/183 , H04N7/188
摘要： A method for detecting a lane line is provided. The method includes: determining candidate lane line regions in a lane image by filtering the lane image; extracting center points for each candidate lane line region; obtaining a fitting curve of each candidate lane line region by performing curve fitting on the center points of each candidate lane line region; classifying the candidate lane line regions as rectilinear and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each candidate lane line region; dividing the candidate lane line regions into groups based on the classifying result; and determining two groups, which meet a first predetermined condition, as target groups, and recognizing candidate lane line regions in the target groups as lane line regions. Besides, an apparatus and a device for detecting a lane line are further provided.
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公开(公告)号：US10407065B2
公开(公告)日：2019-09-10
申请号：US15618125
申请日：2017-06-09
发明人： Wei Liu , Cheng Chi , Guangsheng Zhang , Lu Wei , Wanli Ma
IPC分类号： B60W30/14
摘要： A method, a device and an apparatus for planning a vehicle speed are provided. The method includes: determining initial planning speeds at a target path point and a reference path point based on curvature radiuses of a target front road and a reference front road, such that first and second lateral accelerations are not greater than a lateral acceleration threshold; and determining a target longitudinal acceleration and a target planning speed at the target path point based on the initial planning speeds at the target path point and the reference path point and a reference journey, such that the target longitudinal acceleration is in a defined range. Therefore, a vehicle can drive based on the target planning speed and the target longitudinal acceleration at the target path point, thereby avoiding drastic deceleration and lateral offset, improving driving safety of the vehicle and riding comfort and saving energy.
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公开(公告)号：US10217005B2
公开(公告)日：2019-02-26
申请号：US15628667
申请日：2017-06-21
摘要： Provided is a method for generating target detection information, including detecting target objects around the vehicle by multiple different types of sensors, and determining the detection targets representing a same target object, detected by the different types of sensors, by spatial position and time tracing. With taking the target object as the detection result, the target detection information generated for the detection result includes a spatial matching confidence of the detection result in the current detection period, a time matching confidence of the detection result, and target detection information on each of the detection targets representing the detection result, collected by the sensor detecting the detection target in a dimension corresponding to the sensor.
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8.发明授权公开(公告)号：US10814876B2
公开(公告)日：2020-10-27
申请号：US15933329
申请日：2018-03-22
IPC分类号： B60W30/18 , G05D1/00 , G05D1/02 , B60W30/095
摘要： Provided are a vehicle lane-changing control method and a vehicle lane-changing control device. The method includes controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule, acquiring a location relation between the host vehicle and a referential lane line in a real time manner. The referential lane line is located between the host vehicle and the to-be-turned-into lane. The method further includes determining whether the location relation meets a preset changing rule, and controlling an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule.
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公开(公告)号：US20190270451A1
公开(公告)日：2019-09-05
申请号：US16112662
申请日：2018-08-25
IPC分类号： B60W30/18 , B62D15/02 , B60R16/023 , G05D1/02
摘要： A method and a device for automatically reversing a vehicle are provided. A forward track of a target vehicle is recorded in a forward process of the target vehicle. The target vehicle is controlled to be reversed from a current position and the target vehicle is controlled to be reversed along the forward track by adjusting a steering wheel angle of the target vehicle at each reversing moment, when an automatic reversing instruction for the target vehicle is detected after the target vehicle stops moving forward. The target vehicle is controlled to stop being reversed when a reversing stop instruction for the target vehicle is detected in a reversing process.
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10.发明申请公开(公告)号：US20190187722A1
公开(公告)日：2019-06-20
申请号：US15950200
申请日：2018-04-11
发明人： Jun HU , Huan TIAN , Shuai CHENG , Wei LIU
CPC分类号： G05D1/0251 , G05D1/0088 , G05D1/0212 , G05D1/0238 , G05D2201/0213 , G06K9/00791 , G06K9/2054 , G06K9/346 , G06K9/66
摘要： A method and an apparatus for intelligent terrain identification, a vehicle-mounted terminal, and a vehicle are provided. The method includes acquiring an image of a preset driving range in a front driving region of a vehicle; extracting a feature of a road surface from the image, and determining a type of the road surface based on the extracted feature of the road surface, to cause the vehicle to select a corresponding driving strategy according to the type of the road surface. With the method for intelligent terrain identification, the vehicle can identify the type of the current road surface intelligently, and switch the driving strategy of the vehicle automatically according to the type of the road surface, thereby greatly improving convenience of an adaptation function of the vehicle to a terrain, improving driving experience, and reducing probability of safety risks.
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