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公开(公告)号：US11493937B2
公开(公告)日：2022-11-08
申请号：US17577044
申请日：2022-01-17
申请人： Tsinghua University
发明人： Xinyu Zhang , Jun Li , Qifan Tan , Jianxi Luo , Huaping Liu , Kangyao Huang , Xingang Wu
摘要： A takeoff and landing control method of a multimodal air-ground amphibious vehicle includes: receiving dynamic parameters of the multimodal air-ground amphibious vehicle; processing the dynamic parameters by a coupled dynamic model of the multimodal air-ground amphibious vehicle to obtain dynamic control parameters of the multimodal air-ground amphibious vehicle, wherein the coupled dynamic model of the multimodal air-ground amphibious vehicle comprises a motion equation of the multimodal air-ground amphibious vehicle in a touchdown state; and the motion equation of the multimodal air-ground amphibious vehicle in a touchdown state is determined by a two-degree-of-freedom suspension dynamic equation and a six-degree-of-freedom motion equation of the multimodal air-ground amphibious vehicle in the touchdown state; and controlling takeoff and landing of the multimodal air-ground amphibious vehicle according to the dynamic control parameters of the multimodal air-ground amphibious vehicle. The method is used for takeoff and landing control of a multimodal air-ground amphibious vehicle.
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公开(公告)号：US11380089B1
公开(公告)日：2022-07-05
申请号：US17543777
申请日：2021-12-07
申请人： Tsinghua University
发明人： Xinyu Zhang , Jun Li , Zhiwei Li , Huaping Liu , Xingang Wu
IPC分类号： G06V10/80 , G06V10/77 , G06V10/774 , G01S7/41 , G06V10/82 , G01S13/86 , G01S13/931 , G01S13/89 , G06V20/56
摘要： An all-weather target detection method based on a vision and millimeter wave fusion includes: simultaneously acquiring continuous image data and point cloud data using two types of sensors of a vehicle-mounted camera and a millimeter wave radar; pre-processing the image data and point cloud data; fusing the pre-processed image data and point cloud data by using a pre-established fusion model, and outputting a fused feature map; and inputting the fused feature map into a YOLOv5 detection network for detection, and outputting a target detection result by non-maximum suppression. The method fully fuses millimeter wave radar echo intensity and distance information with the vehicle-mounted camera images. It analyzes different features of a millimeter wave radar point cloud and fuses the features with image information by using different feature extraction structures and ways, so that the advantages of the two types of sensor data complement each other.
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公开(公告)号：US11532151B2
公开(公告)日：2022-12-20
申请号：US17732540
申请日：2022-04-29
申请人： Tsinghua University
发明人： Xinyu Zhang , Li Wang , Jun Li , Lijun Zhao , Zhiwei Li , Shiyan Zhang , Lei Yang , Xingang Wu , Hanwen Gao , Lei Zhu , Tianlei Zhang
摘要： A vision-LiDAR fusion method and system based on deep canonical correlation analysis are provided. The method comprises: collecting RGB images and point cloud data of a road surface synchronously; extracting features of the RGB images to obtain RGB features; performing coordinate system conversion and rasterization on the point cloud data in turn, and then extracting features to obtain point cloud features; inputting point cloud features and RGB features into a pre-established and well-trained fusion model at the same time, to output feature-enhanced fused point cloud features, wherein the fusion model fuses RGB features to point cloud features by using correlation analysis and in combination with a deep neural network; and inputting the fused point cloud features into a pre-established object detection network to achieve object detection. A similarity calculation matrix is utilized to fuse two different modal features.
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公开(公告)号：US11518409B2
公开(公告)日：2022-12-06
申请号：US17834411
申请日：2022-06-07
申请人： Tsinghua University
发明人： Hong Wang , Wenhao Yu , Ziwen Duan , Jun Li
摘要： Embodiments of the present application disclose a safety control method and a safety control system based on environmental risk assessment for an intelligent connected vehicle. The method includes: when a vehicle is in an automatic driving mode, acquiring environmental parameter information of the vehicle in a current driving environment; determining a target driving control parameter which meets a preset safe driving condition under the current environmental parameter; and managing a current automatic driving level of the vehicle by using the target driving control parameter.
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公开(公告)号：US11002859B1
公开(公告)日：2021-05-11
申请号：US17089742
申请日：2020-11-05
申请人： Tsinghua University
发明人： Xinyu Zhang , Jun Li , Shichun Guo , Huaping Liu , Mo Zhou , Wenju Gao
IPC分类号： G01S17/00 , G01S13/00 , G05D1/02 , H01Q1/00 , G01S19/00 , G01S19/39 , G01S19/24 , G01S19/48 , G06K9/62 , G06K9/00 , B60W60/00
摘要： An intelligent vehicle positioning method based on feature point calibration is provided. The intelligent vehicle positioning method includes: determining whether an intelligent vehicle is located in a blind area or a non-blind area; when the intelligent vehicle is located in a GNSS non-blind area, combining GNSS signals, odometer data and inertial measurement unit data, acquiring a current pose of the intelligent vehicle through a Kalman filtering, scanning a surrounding environment of the intelligent vehicle by using a laser radar, extracting corner points and arc features and performing processing to obtain the corner points and circle centers as the feature points, calculating global coordinates and weights of the feature points and storing the global coordinates and the weights of the feature points in a current feature point list.
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公开(公告)号：US09766354B2
公开(公告)日：2017-09-19
申请号：US14152332
申请日：2014-01-10
发明人： Yuanjing Li , Lan Zhang , Yulan Li , Yinong Liu , Jianqiang Fu , Hao Jiang , Zhi Deng , Tao Xue , Wei Zhang , Jun Li
摘要： The invention provides a semiconductor detector, and the semiconductor detector comprises a semiconductor crystal, a cathode, an anode and at least one ladder electrode; the semiconductor crystal comprises a top surface, a bottom surface and at least one side; the cathode, the anode and the ladder electrode are conductive thin films deposited on a surface of the semiconductor crystal; the cathode is disposed on the bottom surface of the semiconductor crystal, the anode is disposed on the top surface of the semiconductor crystal, the ladder electrode is disposed on the at least one side of the semiconductor crystal; and the ladder electrode comprises a plurality of sub-electrodes. As compared to the prior art, the semiconductor detector can improve the energy resolution.
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公开(公告)号：US11673562B1
公开(公告)日：2023-06-13
申请号：US17864415
申请日：2022-07-14
申请人： Tsinghua University
发明人： Jun Li , Hong Wang , Liang Peng , Wenhao Yu
CPC分类号： B60W50/00 , B60W60/001 , B60W2050/0012 , B60W2050/0022 , B60W2420/42
摘要： A method, an apparatus, a computer storage medium and a terminal for implementing autonomous driving decision-making are disclosed. Image information is processed by the probabilistic object detection to obtain a probabilistic object detection result set containing multiple probabilistic object detection result. An uncertainty in the object detection process is estimated by the probabilistic object detection results contained in the set of the probabilistic object detection result. An environmental state information set is generated from the probabilistic object detection results in the probabilistic object detection result set and the perceptual information, then an optional action set considering the uncertainty is generated using a preset decision-making method, and an action for vehicle driving control is determined according to the optional action set and the environmental state information set.
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公开(公告)号：US11315271B2
公开(公告)日：2022-04-26
申请号：US17485402
申请日：2021-09-25
申请人： Tsinghua University
发明人： Jun Li , Xinyu Zhang , Zhiwei Li , Zhenhong Zou , Yi Huang
摘要： A point cloud intensity completion method and system based on semantic segmentation are provided. The point cloud intensity completion method includes: acquiring an RGB image and point cloud data of a road surface synchronously by a photographic camera and a lidar; performing spatial transformation on the point cloud data by using a conversion matrix to generate a two-dimensional reflection intensity projection map and a two-dimensional depth projection map; performing reflection intensity completion on the RGB image and the two-dimensional reflection intensity projection map to obtain a single-channel reflection intensity projection map; performing depth completion on the RGB image and the two-dimensional depth projection map to obtain a single-channel depth projection map; and performing coarse-grained completion on the RGB image, the single-channel reflection intensity projection map and the single-channel depth projection map to obtain a two-dimensional coarse-grained reflectance intensity projection map.
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公开(公告)号：US09835739B2
公开(公告)日：2017-12-05
申请号：US14800635
申请日：2015-07-15
发明人： Lan Zhang , Yulan Li , Yuanjing Li , Jianqiang Fu , Yingshuai Du , Wei Zhang , Xuming Ma , Jun Li
摘要： The present invention provides a method and apparatus for processing signals of a semiconductor detector, including: acquiring a relationship of a time difference between anode and cathode signals of the semiconductor detector with an anode signal amplitude; obtaining an optimal data screening interval according to the relationship of the time difference between anode and cathode signals of the semiconductor detector with the anode signal amplitude, wherein the optimal data screening interval is an interval where the time difference between the anode and cathode signals is greater than 50 ns; and screening and processing the collected data according to the optimal data screening interval when the semiconductor detector collects data. The present invention better overcomes the inherent crystal defects of the detector, reduces the effect of background noise, increases the energy resolution of the cadmium zinc telluride detector under room temperature, and improves the peak-to-compton ratio.
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公开(公告)号：US20140319635A1
公开(公告)日：2014-10-30
申请号：US14152332
申请日：2014-01-10
发明人： Yuanjing Li , Lan Zhang , Yulan Li , Yinong Liu , Jianqiang Fu , Hao Jiang , Zhi Deng , Tao Xue , Wei Zhang , Jun Li
摘要： The invention provides a semiconductor detector, and the semiconductor detector comprises a semiconductor crystal, a cathode, an anode and at least one ladder electrode; the semiconductor crystal comprises a top surface, a bottom surface and at least one side; the cathode, the anode and the ladder electrode are conductive thin films deposited on a surface of the semiconductor crystal; the cathode is disposed on the bottom surface of the semiconductor crystal, the anode is disposed on the top surface of the semiconductor crystal, the ladder electrode is disposed on the at least one side of the semiconductor crystal; and the ladder electrode comprises a plurality of sub-electrodes. As compared to the prior art, the semiconductor detector can improve the energy resolution.
摘要翻译： 本发明提供一种半导体检测器，该半导体检测器包括半导体晶体，阴极，阳极和至少一个梯形电极; 半导体晶体包括顶表面，底表面和至少一个侧面; 阴极，阳极和梯形电极是沉积在半导体晶体表面上的导电薄膜; 阴极设置在半导体晶体的底表面上，阳极设置在半导体晶体的顶表面上，梯形电极设置在半导体晶体的至少一个侧面上; 并且梯形电极包括多个子电极。 与现有技术相比，半导体检测器可以提高能量分辨率。
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