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公开(公告)号：US10510253B2
公开(公告)日：2019-12-17
申请号：US15385571
申请日：2016-12-20
Inventor： Tianlei Zhang , Wenli Yang , Zhenguang Zhu
Abstract: The present disclosure discloses embodiments of methods and apparatuses for indicating a vehicle moving state. In some embodiments, a method includes receiving a vehicle driving instruction; detecting a driving environment outside the vehicle; determining a driving strategy for executing the vehicle driving instruction in the driving environment; determining a driving track instructed by the driving strategy; and projecting the driving track on a road when the driving environment satisfies a preset condition. This implementation can clearly indicate the position that a vehicle is about to occupy, thereby improving the effect of interaction between the vehicle and other vehicles or pedestrians.
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公开(公告)号：US11415994B2
公开(公告)日：2022-08-16
申请号：US16792645
申请日：2020-02-17
Inventor： Xiaoxin Fu , Dayang Hao , Zhenguang Zhu , Zhiyuan Chen , Fan Zhu
Abstract: A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.
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公开(公告)号：US11687080B2
公开(公告)日：2023-06-27
申请号：US16786509
申请日：2020-02-10
Inventor： Hongye Li , Xiaoxin Fu , Zhenguang Zhu
CPC classification number: G05D1/0212 , G01C21/3415 , G01C21/3461 , G05D1/0231 , G05D1/0257
Abstract: A blacklist-based re-navigation method and apparatus, and a computer readable storage medium are provided. The blacklist-based re-navigation method includes: detecting whether an obstacle is in a front area of a driverless vehicle in a driving process of the driverless vehicle; if an obstacle is detected in the front area, generating a blacklist associated with the obstacle, wherein the blacklist includes a road on which the obstacle is located; and reporting the blacklist to a navigation system, wherein the navigation system re-plans a navigation route according to the road on which the obstacle is located.
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公开(公告)号：US20200269853A1
公开(公告)日：2020-08-27
申请号：US16788673
申请日：2020-02-12
Inventor： Xiao Cui , Dingfeng Guo , Zhenguang Zhu
Abstract: A method and a device for eliminating a steady-state lateral deviation and a storage medium are provided. The method includes: determining whether a vehicle travels on a straight road; collecting a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road; determining whether the vehicle has the steady-state lateral deviation based on the collected lateral deviation value; and compensating the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation. The vehicle has the steady-state lateral deviation may run steadily, a direction of the vehicle is more accurate, self-driving safety and efficiency are improved, the sense of leftward and rightward swaying brought by a continuous deviation rectification method in the conventional art is effectively eliminated, and self-driving stability is improved.
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公开(公告)号：US20200262436A1
公开(公告)日：2020-08-20
申请号：US16789204
申请日：2020-02-12
Inventor： Zhenguang Zhu , Hongye Li , Xiaoxin Fu , Zhiyuan Chen
IPC: B60W30/18 , G08G1/0962 , G08G1/16
Abstract: A method, device and terminal apparatus for invoking an automatic driving reference line are provided. The method includes: acquiring lane information of a current lane where a vehicle is located; calculating an automatic driving reference line of the current lane according to the lane information of the current lane; invoking lane information of a switching lane according to a topological relation between the current lane and the switching lane; and calculating an automatic driving reference line of the switching lane according to the automatic driving reference line of the current lane and the lane information of the switching lane.
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Patent Agency Ranking
公开(公告)号：US10310504B2
公开(公告)日：2019-06-04
申请号：US15283040
申请日：2016-09-30
Inventor： Zhenguang Zhu , Tianlei Zhang , Yuchang Pan
Abstract: Disclosed embodiments include a driverless vehicle control method, apparatus and system. In some embodiments, method comprises: receiving a vehicle control message of a driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle; converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message; generating a vehicle control command based on the vehicle control protocol message; and converting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle. In this way, the vehicle control message can be described by using a general message instruction, achieving the objective of controlling the driverless vehicle by using a general message instruction.
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公开(公告)号：US20200264618A1
公开(公告)日：2020-08-20
申请号：US16786509
申请日：2020-02-10
Inventor： Hongye Li , Xiaoxin Fu , Zhenguang Zhu
Abstract: A blacklist-based re-navigation method and apparatus, and a computer readable storage medium are provided. The blacklist-based re-navigation method includes: detecting whether an obstacle is in a front area of a driverless vehicle in a driving process of the driverless vehicle; if an obstacle is detected in the front area, generating a blacklist associated with the obstacle, wherein the blacklist includes a road on which the obstacle is located; and reporting the blacklist to a navigation system, wherein the navigation system re-plans a navigation route according to the road on which the obstacle is located.
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公开(公告)号：US20200264570A1
公开(公告)日：2020-08-20
申请号：US16786440
申请日：2020-02-10
Inventor： Dingfeng Guo , Xiao Cui , Zhenguang Zhu
Abstract: A method, device and apparatus for processing a control parameter, and a storage medium are provided. The method includes: acquiring first information input to a control system; acquiring second information output after the first information is processed by the control system; obtaining a first parameter characteristic for characterizing a system parameter, according to the first information and the second information; obtaining a second parameter characteristic for adjusting the control parameter, according to the first parameter characteristic and a corresponding relation between the system parameter and the control parameter; and adjusting the control parameter according to the second parameter characteristic. Thus, an adaptive adjustment of the control parameter based on the variation of the scene is realized, and the parameter adjustment efficiency is improved.
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公开(公告)号：US11822297B2
公开(公告)日：2023-11-21
申请号：US16786440
申请日：2020-02-10
Inventor： Dingfeng Guo , Xiao Cui , Zhenguang Zhu
CPC classification number: G05B13/042 , G05B6/02 , B60W50/10 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2552/40 , B60W2710/18 , B60W2710/20 , B60W2720/10 , G05D1/0223 , G05D2201/0213
Abstract: A method, device and apparatus for processing a control parameter, and a storage medium are provided. The method includes: acquiring first information input to a control system; acquiring second information output after the first information is processed by the control system; obtaining a first parameter characteristic for characterizing a system parameter, according to the first information and the second information; obtaining a second parameter characteristic for adjusting the control parameter, according to the first parameter characteristic and a corresponding relation between the system parameter and the control parameter; and adjusting the control parameter according to the second parameter characteristic. Thus, an adaptive adjustment of the control parameter based on the variation of the scene is realized, and the parameter adjustment efficiency is improved.
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公开(公告)号：US11447141B2
公开(公告)日：2022-09-20
申请号：US16788673
申请日：2020-02-12
Inventor： Xiao Cui , Dingfeng Guo , Zhenguang Zhu
Abstract: A method and a device for eliminating a steady-state lateral deviation and a storage medium are provided. The method includes: determining whether a vehicle travels on a straight road; collecting a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road; determining whether the vehicle has the steady-state lateral deviation based on the collected lateral deviation value; and compensating the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation. The vehicle has the steady-state lateral deviation may run steadily, a direction of the vehicle is more accurate, self-driving safety and efficiency are improved, the sense of leftward and rightward swaying brought by a continuous deviation rectification method in the conventional art is effectively eliminated, and self-driving stability is improved.
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