Abrégé

A video system includes a first data gathering node configured to receive a plurality of image streams from a plurality of cameras, respectively. Each of the plurality of cameras captures an environment of an autonomous driving vehicle (ADV). The first data gathering node tags the plurality of image streams with metadata that identifies each of the plurality of image streams, and combines the plurality of image streams with the metadata to form a combined image stream. A second data gathering node is communicatively coupled to the first data gathering node and is to receive the combined image stream from the first data gathering node and output the combined image stream with a second combined image stream.

Classes IPC  ?

• H04N 21/236 - Assemblage d'un flux multiplexé, p. ex. flux de transport, en combinant un flux vidéo avec d'autres contenus ou données additionnelles, p. ex. insertion d'une adresse universelle [URL] dans un flux vidéo, multiplexage de données de logiciel dans un flux vidéoRemultiplexage de flux multiplexésInsertion de bits de remplissage dans le flux multiplexé, p. ex. pour obtenir un débit constantAssemblage d'un flux élémentaire mis en paquets
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués

Abrégé

A computer-implemented method for content generation is provided. The method includes obtaining first visual data at a specific moment and first control data for controlling content generation, the first visual data including information associated with an environment where a target object is located at the specific moment. The method further includes generating a first feature vector associated with the first visual data. The method further includes generating, based on the first feature vector, a second feature vector under the control of the first control data, the second feature vector including information that characterizes a behavior of the target object in the environment at a subsequent moment after the specific moment.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes

Produits et services

Computer programs [downloadable software]; computer software platforms, recorded or downloadable; liquid crystal display [LCD] screens; Global Positioning System [GPS] apparatus; navigation apparatus for vehicles [on-board computers]; portable media players; simulators for the steering and control of vehicles; electronic chips; sensors; battery charging devices for motor vehicles; remotely deployable spike strips used to stop cars by puncturing tires. Vehicles for locomotion by land, air, water or rail; electric vehicles; remote control vehicles, other than toys; cars; driverless cars [autonomous cars]; bicycles; tyres for vehicle wheels; repair outfits for inner tubes; delivery drones; anti-theft devices for vehicles. Navigation services; transport; gift wrapping; vehicle breakdown towing services; car sharing services; car rental; physical storage of electronically stored data or documents; courier services [messages or merchandise]; providing driving directions for travel purposes; rental of pushchairs. Research and development of new products for others; technological research; meteorological information; vehicle roadworthiness testing; industrial design; exhibition hall design; computer software design; consultancy in the design and development of computer hardware; software as a service [SaaS]; platform as a service [PaaS]; cartography services.

Abrégé

A hardware unit of an ADV comprises an input port to directly receive data from one or more sensors perceiving a driving environment. The hardware unit is coupled with the one or more sensors to perform data processing of the data from one or more sensors. The hardware unit comprises a monitor unit to monitor a data rate of output data after the data processing. The hardware unit further comprises a self-adjustment unit to dynamically configure and adjust the data processing based on the data rate of output data. The hardware unit further comprises an output port to transfer the output data to an autonomous driving system (ADS) of the ADV to control the ADV to drive autonomously based on the output data.

Classes IPC  ?

• G01S 7/00 - Détails des systèmes correspondant aux groupes , ,
• H04L 67/125 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p. ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance en impliquant la commande des applications des terminaux par un réseau
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Produits et services

Humanoid robots with artificial intelligence for use in scientific research; virtual reality headsets; graphics processor units [GPUs]; computer software platforms, recorded or downloadable; personal digital assistants; computer hardware; black boxes [data recorders]; electronic publications, downloadable; computer programs, downloadable; computer peripheral devices; computer software applications, downloadable; Downloadable application software for smartphones; global positioning system [gps] apparatus; computer search engine software; Chips [integrated circuits]; user-programmable humanoid robots, not configured; artificial intelligence software for driverless cars; smart watches; artificial intelligence and machine learning software; computer chatbot software for simulating conversations. Driverless cars (autonomous cars); remote control vehicles, other than toys; electric vehicles; electrically powered trolleys; air vehicles; unmanned underwater vehicles; anti-theft devices for vehicles; surveillance towers specially adapted for vehicles; steering wheels for vehicles; Aerial conveyors; plug-in hybrid cars; robotic cars; autonomous land vehicles; self-driving robots for delivery; vehicles for locomotion by land, air, water or rail; civilian drones; electrically powered buses; automatically guided [driverless] material handling trucks; none of the aforesaid goods including bicycles, electric bicycles, scooters, electric scooters or parts and fittings for bicycles, electric bicycles, scooters and electric scooters. Passenger transport; taxi transport; Rental of robotic cars; chauffeur services; rental of navigational systems; Provision of information relating to road traffic conditions; vehicle rental; rental of wheelchairs; GPS navigation services; car sharing services; provision of information relating to transport; physical storage of electronically stored data or documents; transport; packaging and storage of goods; travel arrangement; courier services [messages or merchandise]; vehicle breakdown towing services; air transport. Electric car roadworthiness testing; Research in the field of unmanned vehicle technology; Providing online geographic maps, not downloadable; research and development of new products for others; technological research; platform as a service [paas]; research in the field of driverless car [autonomous car] technology; Research in the field of artificial intelligence technology; computer software design; consultancy in the design and development of computer hardware; software as a service [saas]; providing virtual computer systems through cloud computing; hosting software platforms for virtual reality-based work collaboration; rental of user-programmable humanoid robots, not configured; providing temporary use of on-line non-downloadable operating software for accessing and using a cloud computing network; providing electronic storage space on the internet; providing search engines for the Internet; Infrastructure as a service [IaaS]; Cartographic or thermographic measurement services by drone; Design of integrated circuits.

Abrégé

In one aspect, a computing device of an autonomous driving vehicle (ADV) is configured to determine a first control signal for a light detection and ranging (Lidar) sensor of the ADV and a second control signal for a camera of the ADV, provide the first control signal to the Lidar sensor and the second control signal to the camera, and process Lidar output of the Lidar sensor and camera output of the camera to detect one or more features of the Lidar output or camera output. In response to detecting the one or more features, the computing device is to adjust the first control signal or the second control signal.

Classes IPC  ?

• G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p. ex. avec des goniomètres
• G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
• G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra

Abrégé

In an embodiment, an autonomous driving vehicle (ADV) processes a set of sensor data concurrently by both a first computing unit and a second computing unit, wherein the set of sensor data is generated by a sensor. The first computing unit formats the set of sensor data into a set of message data. The second computing unit determines whether the set of sensor data indicates a control path fault. The second computing unit reports the control path fault responsive to determining that the set of sensor data indicates the control path fault.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• H04L 49/351 - Interrupteurs spécialement adaptés à des applications spécifiques pour des réseaux locaux [LAN], p. ex. des commutateurs Éthernet

Abrégé

A sensor system for an autonomous driving vehicle (ADV) includes a sensor interface coupled to a plurality of sensors, a host interface coupled to a host system of the ADV, and a self-adaptive sensor transfer unit coupled between the sensor interface and the host interface. The self-adaptive sensor transfer unit includes a sensor monitor module, configured to monitor a data rate of sensor data received from a sensor, and a configuration control module, configured to: receive a target data rate from the host via the host interface; receive the monitored data rate of the sensor data; and control the data rate of the sensor data to be within a threshold of the target data rate.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 50/08 - Interaction entre le conducteur et le système d'aide à la conduite

Abrégé

A system, comprising: obtaining first point cloud data generated by a first scanner device of a first autonomous driving vehicle (ADV). The system applies one or more abnormality detection algorithms to the first point cloud data to determine an abnormality in the first point cloud data. The system determines an abnormality type for the abnormality. The system determines the abnormality is above a severity threshold based on the abnormality type. In response to determining that the abnormality is above the severity threshold, the system indicates a warning to inspect the first scanner device for any hardware malfunctions.

Classes IPC  ?

• B60W 40/10 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés au mouvement du véhicule
• G01S 17/88 - Systèmes lidar, spécialement adaptés pour des applications spécifiques

Abrégé

An autonomous driving vehicle (ADV) processes a set of sensor data concurrently by both a first computing unit and a second computing unit, wherein the set of sensor data is generated by a sensor (810). The first computing unit formats the set of sensor data into a set of message data (812). The second computing unit determines whether the set of sensor data indicates a control path fault (814). The second computing unit reports the control path fault responsive to determining that the set of sensor data indicates the control path fault (816).

Classes IPC  ?

• G05B 19/418 - Commande totale d'usine, c.-à-d. commande centralisée de plusieurs machines, p. ex. commande numérique directe ou distribuée [DNC], systèmes d'ateliers flexibles [FMS], systèmes de fabrication intégrés [IMS], productique [CIM]
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions

Produits et services

Humanoid robots with artificial intelligence for use in scientific research; virtual reality headsets; graphics processor units [GPUs]; computer software platforms, recorded or downloadable; personal digital assistants; computer hardware; black boxes [data recorders]; electronic publications, downloadable; computer programs, downloadable; computer peripheral devices; computer software applications, downloadable; Downloadable application software for smartphones; global positioning system [gps] apparatus; computer search engine software; Chips [integrated circuits]; user-programmable humanoid robots, not configured; artificial intelligence software for driverless cars; smart watches; artificial intelligence and machine learning software; computer chatbot software for simulating conversations. Driverless cars (autonomous cars); remote control vehicles, other than toys; electric vehicles; electrically powered trolleys; air vehicles; unmanned underwater vehicles; anti-theft devices for vehicles; surveillance towers specially adapted for vehicles; steering wheels for vehicles; aerial conveyors; Plug-in hybrid cars; robotic cars; autonomous land vehicles; self-driving robots for delivery; vehicles for locomotion by land, air, water or rail; civilian drones; electrically powered buses; automatically guided [driverless] material handling trucks; none of the aforesaid goods including bicycles, electric bicycles, scooters, electric scooters or parts and fittings for bicycles, electric bicycles, scooters and electric scooters. Electric car roadworthiness testing; research in the field of unmanned vehicle technology; Providing online geographic maps, not downloadable; research and development of new products for others; technological research; platform as a service [paas]; research in the field of driverless car [autonomous car] technology; Research in the field of artificial intelligence technology; computer software design; consultancy in the design and development of computer hardware; software as a service [saas]; providing virtual computer systems through cloud computing; hosting software platforms for virtual reality-based work collaboration; rental of user-programmable humanoid robots, not configured; providing temporary use of on-line non-downloadable operating software for accessing and using a cloud computing network; providing electronic storage space on the internet; providing search engines for the Internet; Infrastructure as a service [IaaS]; Cartographic or thermographic measurement services by drone; Design of integrated circuits.

Produits et services

Driverless cars (autonomous cars); remote control vehicles, other than toys; electric vehicles; electrically powered trolleys; tires for vehicle wheels; air vehicles; unmanned underwater vehicles; anti-theft devices for vehicles; surveillance towers specially adapted for vehicles; steering wheels for vehicles; electric bicycles; aerial conveyors; Plug-in hybrid cars; robotic cars; autonomous land vehicles; self-driving robots for delivery; vehicles for locomotion by land, air, water or rail; civilian drones; electrically powered buses; automatically guided [driverless] material handling trucks.

Produits et services

Driverless cars (autonomous cars); remote control vehicles, other than toys; electric vehicles; electrically powered trolleys; tires for vehicle wheels; air vehicles; unmanned underwater vehicles; anti-theft devices for vehicles; surveillance towers specially adapted for vehicles; steering wheels for vehicles; electric bicycles; aerial conveyors; Plug-in hybrid cars; robotic cars; autonomous land vehicles; self-driving robots for delivery; vehicles for locomotion by land, air, water or rail; civilian drones; electrically powered buses; automatically guided [driverless] material handling trucks.

Abrégé

In one aspect, a computing device of an autonomous driving vehicle (ADV) is configured to determine a first control signal for a light detection and ranging (Lidar) sensor of the ADV and a second control signal for a camera of the ADV (602), provide the first control signal to the Lidar sensor and the second control signal to the camera (604), and process Lidar output of the Lidar sensor and camera output of the camera to detect one or more features of the Lidar output or camera output (606). In response to detecting the one or more features, the computing device is to adjust the first control signal or the second control signal (608).

Classes IPC  ?

• G05D 13/62 - Commande de la vitesse linéaireCommande de la vitesse angulaireCommande de l'accélération ou de la décélération, p. ex. d'une machine motrice caractérisée par l'utilisation de moyens électriques, p. ex. l'emploi de dynamos-tachymétriques, l'emploi de transducteurs convertissant des valeurs électriques en un déplacement
• G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p. ex. avec des goniomètres

Abrégé

A hardware unit (120) of an ADV (101) comprises an input port to directly receive data from one or more sensors (115) perceiving a driving environment. The hardware unit (120) is coupled with the one or more sensors (115) to perform data processing of the data from one or more sensors (115). The hardware unit (120) comprises a monitor unit (404) to monitor a data rate of output data after the data processing. The hardware unit (120) further comprises a self-adjustment unit (405) to dynamically configure and adjust the data processing based on the data rate of output data. The hardware unit (120) further comprises an output port (412) to transfer the output data to an autonomous driving system (ADS) (110) of the ADV (101) to control the ADV (101) to drive autonomously based on the output data. The hardware unit (120) can improve operation safety of the ADV.

Classes IPC  ?

• G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Abrégé

A video system includes a first data gathering node configured to receive a plurality of image streams from a plurality of cameras, respectively. Each of the plurality of cameras captures an environment of an autonomous driving vehicle (ADV). The first data gathering node tags the plurality of image streams with metadata that identifies each of the plurality of image streams, and combines the plurality of image streams with the metadata to form a combined image stream. A second data gathering node is communicatively coupled to the first data gathering node and is to receive the combined image stream from the first data gathering node and output the combined image stream with a second combined image stream.

Classes IPC  ?

• H04N 19/17 - Procédés ou dispositions pour le codage, le décodage, la compression ou la décompression de signaux vidéo numériques utilisant le codage adaptatif caractérisés par l’unité de codage, c.-à-d. la partie structurelle ou sémantique du signal vidéo étant l’objet ou le sujet du codage adaptatif l’unité étant une zone de l'image, p. ex. un objet

Abrégé

A sensor system for an autonomous driving vehicle (ADV) includes a sensor interface coupled to a plurality of sensors, a host interface coupled to a host system of the ADV, and a self-adaptive sensor transfer unit coupled between the sensor interface and the host interface. The self-adaptive sensor transfer unit includes a sensor monitor module, configured to monitor a data rate of sensor data received from a sensor, and a configuration control module, configured to: receive a target data rate from the host via the host interface; receive the monitored data rate of the sensor data; and control the data rate of the sensor data to be within a threshold of the target data rate.

Classes IPC  ?

• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions

Abrégé

A method (200, 400, 600) and apparatus (1300, 1400, 1500) for synchronously collecting data, a synchronization determination method (800) and apparatus (1600), a vehicle (110, 1100), and an electronic device (1700), which relate to the field of artificial intelligence, and in particular to the technical field of autonomous driving, computer vision and cloud computing. The specific implementation solution of the method (200) for synchronously collecting data is: in response to receiving a data packet for a predetermined angle (302) from a radar sensor (111, 601), determining first time information (301) of when the radar sensor (111, 601) collects point cloud data at the predetermined angle (302) (S210), wherein the predetermined angle (302) is within an angle-of-view range of an image sensor (112, 602); according to the first time information (301), determining delay information (306) for the image sensor (112, 602) (S220); and sending the delay information (306) to a controller (1000) (S230), such that the controller (1000) controls the image sensor (112, 602) to synchronously collect data with the radar sensor (111, 601) which is rotated to the predetermined angle (302), wherein the data packet comprises the point cloud data collected by the radar sensor (111, 601) at the predetermined angle (302).

Classes IPC  ?

• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie

Abrégé

The present disclosure provides a time calibration method, an electronic device, and a storage medium, and relates to the technical field of automatic driving. The method can include: determining a first observation error between first reference time point and first system time point; determining a second observation error between second reference time point and second system time point; determining a unit drift per second of the system to be calibrated based on the first system time point, the second system time point, the first observation error, and the second observation error; and calibrating the time of the system to be calibrated based on the unit drift per second.

Classes IPC  ?

• G04R 20/02 - Mise à l’heure à partir de l’information horaire portée dans le signal radio de façon explicite ou implicite le signal radio étant envoyé par un satellite de positionnement, p. ex. GPS

Abrégé

The disclosed techniques include: obtaining traveling state information of the autonomous vehicle; obtaining, in response to confirming that there is a traffic object within a preset range for the autonomous vehicle, true motion state information of the traffic object; determining a first control decision for indicating whether the autonomous vehicle is to avoid the traffic object based on the traveling state information of the autonomous vehicle and the true motion state information of the traffic object; predicting first predictive motion state information of the traffic object within a first preset duration based on the true motion state information of the traffic object and the first control decision; and determining a second control decision for the autonomous vehicle based on the traveling state information of the autonomous vehicle and the first predictive motion state information of the traffic object.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/095 - Prévision du trajet ou de la probabilité de collision

Abrégé

A method of controlling an autonomous vehicle, an electronic device, and a storage medium, which relate to fields of an artificial intelligence, autonomous driving, intelligent transportation, high-definition maps, cloud services, and Internet of Vehicles technologies. The method includes determining, in response to an obstacle avoidance instruction being received, an obstacle avoidance strategy in lane changing according to first obstacle data of a target obstacle, the obstacle avoidance instruction being generated in response to determining that a first relationship between the target obstacle and a vehicle meets a predetermined collision condition, and the first relationship being generated based on the first obstacle data and first vehicle data of the vehicle; controlling the vehicle to travel according to the obstacle avoidance strategy; and updating a planned path for lane changing in response to a risk relief instruction being received, so that the vehicle travels according to the updated planned path.

Classes IPC  ?

• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 30/18 - Propulsion du véhicule
• B60W 30/095 - Prévision du trajet ou de la probabilité de collision
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes

Abrégé

A vehicle control technical solution is provided. The solution relates to the field of computer technologies, and particularly to the field of artificial intelligence technologies, such as autonomous driving technologies, intelligent transportation technologies. A vehicle control method includes: acquiring a state quantity error between a desired state quantity at a current moment and a real state quantity at a previous moment of a vehicle; determining a control quantity of the vehicle at the current moment based on the state quantity error and a mapping relationship between the control quantity of the vehicle and the state quantity error; and controlling a driving behavior of the vehicle based on the control quantity at the current moment to obtain a real state quantity at the current moment.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 50/02 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier pour préserver la sécurité en cas de défaillance du système d'aide à la conduite, p. ex. en diagnostiquant ou en palliant à un dysfonctionnement
• G06N 3/08 - Méthodes d'apprentissage

Abrégé

The present disclosure provides a driving data processing method, an apparatus, a device, an automatic driving vehicle, a medium and a product, including: collecting first driving data generated by using a target structure in a driving system of a target vehicle, where the first driving data uses a binary number system; determining a target descriptor corresponding to the target structure, where the target descriptor is used to describe member information of the target structure; parsing the target descriptor to obtain at least one piece of member information of the target structure; parsing the first driving data according to the at least one piece of the member information to obtain target data corresponding to each of the at least one piece of the member information; and performing a data processing operation based on the target data corresponding to each of the at least one piece of the member information.

Classes IPC  ?

• G06F 17/30 - Recherche documentaire; Structures de bases de données à cet effet
• G06F 16/2453 - Optimisation des requêtes
• G06F 16/2455 - Exécution des requêtes
• G06F 16/28 - Bases de données caractérisées par leurs modèles, p. ex. des modèles relationnels ou objet
• G07C 5/00 - Enregistrement ou indication du fonctionnement de véhicules

Abrégé

The present disclosure provides a method and apparatus for determining an attribute value of an obstacle in vehicle infrastructure cooperation. The method includes: acquiring vehicle-end data collected by at least one sensor of an autonomous driving vehicle; acquiring vehicle wireless communication V2X data transmitted by a roadside device; and fusing, in response to determining that an obstacle is at an edge of a blind spot of the autonomous driving vehicle, the vehicle-end data and the V2X data to obtain an attribute estimated value of the obstacle.

Classes IPC  ?

• B60W 30/08 - Anticipation ou prévention de collision probable ou imminente
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• H04W 4/40 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons

Abrégé

A method and apparatus for planning a route, and a readable storage medium are provided. An implementation of the method includes: in a process of that an autonomous vehicle travels according to a first travelling route, in response to a situation where changing from a current lane to a target lane at a vehicle lane-changing permitted road section is planned for the autonomous vehicle but the autonomous vehicle is unable to change to the target lane, determining for the autonomous vehicle a permitted travel direction at a target intersection, the target intersection being a road intersection in front of the autonomous vehicle and corresponding to the vehicle lane-changing permitted road section, and the first travelling route being a travelling route pre-planned for a target starting point and a target ending point; and planning, based on the permitted travel direction, a second travelling route for the autonomous vehicle to pass through the target intersection to reach the target ending point.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/18 - Propulsion du véhicule

Abrégé

A method and an apparatus for determining a road surface adhesion coefficient are provided. The method includes: determining, based on M state parameters of a vehicle on a target road section, M road surface adhesion coefficient estimation results respectively corresponding to the M state parameters, M being an integer greater than 1; selecting N road surface adhesion coefficient estimation results from the M road surface adhesion coefficient estimation results according to a traveling work condition of the vehicle on the target road section, N being a positive integer smaller than or equal to M; and determining a road surface adhesion coefficient of the target road section based on the N road surface adhesion coefficient estimation results.

Classes IPC  ?

• G01N 19/02 - Mesure du coefficient de frottement entre matériaux

Abrégé

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.

Classes IPC  ?

• G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires
• G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
• G06V 10/46 - Descripteurs pour la forme, descripteurs liés au contour ou aux points, p. ex. transformation de caractéristiques visuelles invariante à l’échelle [SIFT] ou sacs de mots [BoW]Caractéristiques régionales saillantes
• G06V 10/764 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant la classification, p. ex. des objets vidéo
• G06V 10/77 - Traitement des caractéristiques d’images ou de vidéos dans les espaces de caractéristiquesDispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p. ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]Séparation aveugle de source
• G06V 10/80 - Fusion, c.-à-d. combinaison des données de diverses sources au niveau du capteur, du prétraitement, de l’extraction des caractéristiques ou de la classification
• G06V 10/774 - Génération d'ensembles de motifs de formationTraitement des caractéristiques d’images ou de vidéos dans les espaces de caractéristiquesDispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p. ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]Séparation aveugle de source méthodes de Bootstrap, p. ex. "bagging” ou “boosting”

Abrégé

This disclosure provides a device environment identification method, a device environment identification apparatus, an electronic device and an autonomous vehicle, and relates to the field of artificial intelligence, in particular to the field of autonomous driving technology, sensor technology, etc. The method includes: obtaining data collected by a sensor of a device from an environment where the device is located; extracting feature information from the collected data; and generating an identification result of the environment in accordance with the feature information, the identification result being used for indicating a corresponding relationship between the environment and calibration of the sensor.

Classes IPC  ?

• G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra
• G01S 7/40 - Moyens de contrôle ou d'étalonnage
• G01S 7/41 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cibleSignature de cibleSurface équivalente de cible
• G06F 18/22 - Critères d'appariement, p. ex. mesures de proximité

Abrégé

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.

Classes IPC  ?

• G01C 21/00 - NavigationInstruments de navigation non prévus dans les groupes
• G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire

Abrégé

A method for automatic driving at an intersection, an electronic device, storage medium, and an automatic driving vehicle, which relate to a field of a data processing technology, in particular to a field of automatic driving. The method includes: determining a first initial convergence location information between an obstacle and a vehicle, a current location information of the obstacle, and an orientation information of the obstacle; determining a target convergence location information between the obstacle and the vehicle according to the first initial convergence location information, the current location information of the obstacle and the orientation information of the obstacle; determining a target travelling plan from a plurality of candidate travelling plans for the vehicle according to the target convergence location information and a current travelling parameter of the obstacle; and controlling the automatic driving of the vehicle according to the target travelling plan.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 30/095 - Prévision du trajet ou de la probabilité de collision
• B60W 30/18 - Propulsion du véhicule

Abrégé

A method of training a model, a method of predicting a trajectory, and an electronic device, which relate to fields of artificial intelligence, deep learning, autonomous driving and intelligent transportation technologies. The method includes: adjusting a model parameter of a to-be-trained model for an nth round according to a first action selection strategy, so as to obtain an intermediate network model, where n=1, . . . N, and N is an integer greater than 1; performing, by using the intermediate network model, at least one trajectory prediction action based on training sample data indicated by the first action selection strategy, so as to obtain a trajectory prediction result; determining a second action selection strategy according to the trajectory prediction result and the first action selection strategy; and adjusting the model parameter of the to-be-trained model for an (n+1)th round according to the second action selection strategy.

Classes IPC  ?

• G06N 3/08 - Méthodes d'apprentissage
• G06F 18/211 - Sélection du sous-ensemble de caractéristiques le plus significatif
• G06F 18/213 - Extraction de caractéristiques, p. ex. en transformant l'espace des caractéristiquesSynthétisationsMappages, p. ex. procédés de sous-espace
• G06F 18/21 - Conception ou mise en place de systèmes ou de techniquesExtraction de caractéristiques dans l'espace des caractéristiquesSéparation aveugle de sources

Abrégé

A method of processing data for an autonomous vehicle, an electronic device, a storage medium, and an autonomous vehicle are provided. The method includes: acquiring sensor data for the autonomous vehicle, wherein the sensor data includes inertial measurement data, LiDAR data, and visual image data; determining a first constraint factor for the inertial measurement data according to the inertial measurement data and the visual image data; determining a second constraint factor for the LiDAR data according to the inertial measurement data and the LiDAR data; determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data and the LiDAR data; and processing the sensor data based on the first constraint factor, the second constraint factor and the third constraint factor, so as to obtain positioning data for positioning the autonomous vehicle.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60K 35/00 - Instruments spécialement adaptés aux véhiculesAgencement d’instruments dans ou sur des véhicules
• B60W 40/10 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés au mouvement du véhicule
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier
• G01S 7/48 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
• G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p. ex. avec des goniomètres
• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
• G06T 7/50 - Récupération de la profondeur ou de la forme
• G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques

Abrégé

A method for fusing road data to generate a map, includes: determining benchmark road data and at least one road data to be fused in a target road area; establishing, successively for each road data to be fused, a first road element association relationship between the first sub road data and the benchmark road data; establishing a second road element association relationship between the second sub road data and the benchmark road data according to the first road element association relationship; and fusing the benchmark road data and the road data to be fused according to the above association relationships to update the benchmark road data.

Classes IPC  ?

• G01C 21/00 - NavigationInstruments de navigation non prévus dans les groupes

Abrégé

The present disclosure provides a vehicle travel control method and apparatus. A specific implementation lies in: acquiring a distance between a vehicle and a first intersection, where the first intersection is an intersection for the vehicle to go across on a first road which the vehicle is currently on; acquiring, on a determination that the distance is less than or equal to a preset distance, intersection information of the first intersection and travelling information of the vehicle, where the intersection information includes lane information of at least two lanes on the first road; determining, according to the intersection information and the travelling information, a target weight of each of the lanes for the vehicle to travel into; and determining, according to the target weight of each of the lanes for the vehicle to travel into, an intended travel route of the vehicle.

Classes IPC  ?

• B60W 30/18 - Propulsion du véhicule
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Abrégé

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.

Classes IPC  ?

• G06V 10/80 - Fusion, c.-à-d. combinaison des données de diverses sources au niveau du capteur, du prétraitement, de l’extraction des caractéristiques ou de la classification
• G06V 10/776 - ValidationÉvaluation des performances
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes

Abrégé

A method of controlling an autonomous vehicle and an electronic device are provided, which relate to a field of artificial intelligence technology, and in particular to a field of autonomous driving technology. The method includes: acquiring a vehicle state configuration information from a cloud; enabling a task receiving function of the vehicle, in response to the vehicle state configuration information indicating that the vehicle is in an automatic operation state; acquiring a task information from the cloud in response to the task receiving function being enabled; and controlling the vehicle according to the task information.

Classes IPC  ?

• G08G 1/0967 - Systèmes impliquant la transmission d'informations pour les grands axes de circulation, p. ex. conditions météorologiques, limites de vitesse
• B60K 35/00 - Instruments spécialement adaptés aux véhiculesAgencement d’instruments dans ou sur des véhicules
• G07C 5/00 - Enregistrement ou indication du fonctionnement de véhicules
• G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente
• G08G 1/00 - Systèmes de commande du trafic pour véhicules routiers
• G08G 1/0969 - Systèmes impliquant la transmission d'indications de navigation au véhicule ayant un dispositif de visualisation sous forme de carte
• B60K 35/28 - Dispositions de sortie, c.-à-d. du véhicule à l'utilisateur, associées aux fonctions du véhicule ou spécialement adaptées à celles-ci caractérisées par le type d’informations de sortie, p. ex. divertissement vidéo ou informations sur la dynamique du véhiculeDispositions de sortie, c.-à-d. du véhicule à l'utilisateur, associées aux fonctions du véhicule ou spécialement adaptées à celles-ci caractérisées par la finalité des informations de sortie, p. ex. pour attirer l'attention du conducteur
• B60K 35/29 - Instruments caractérisés par la manière dont les informations sont traitées, p. ex. présentant des informations sur plusieurs dispositifs d’affichage ou hiérarchisant les informations en fonction des conditions de conduite
• B60K 35/65 - Instruments spécialement adaptés à des types de véhicules ou d’utilisateurs spécifiques, p. ex. pour la conduite à gauche ou à droite

Abrégé

The present disclosure provides a vehicle positioning method implemented by an electronic device, including: obtaining sensor data about N frames of a vehicle through a sliding window, N being a positive integer; creating a target function for a factor graph model in accordance with the sensor data about the N frames, and performing optimization solution on the target function; and determining a pose and a position of the vehicle in accordance with a target value obtained through the optimization solution on the target function.

Classes IPC  ?

• G01S 19/47 - Détermination de position en combinant les mesures des signaux provenant du système de positionnement satellitaire à radiophares avec une mesure supplémentaire la mesure supplémentaire étant une mesure inertielle, p. ex. en hybridation serrée
• G01C 21/28 - NavigationInstruments de navigation non prévus dans les groupes spécialement adaptés pour la navigation dans un réseau routier avec corrélation de données de plusieurs instruments de navigation
• G01C 21/30 - Mise en coïncidence avec des cartes ou des contours

Abrégé

A method and apparatus for processing a service using a request in a computer readable storage medium. An embodiment of the method comprises: acquiring a service using a request for a vehicle-mounted device; determining a to-be-processed request from unprocessed service using requests; determining, using a preset navigation status service layer, a service type to which the to-be-processed request belongs; and calling, using the navigation status service layer, a service module corresponding to the service type to process the to-be-processed request, the navigation status service layer recording corresponding relationships between different service types and different service modules.

Classes IPC  ?

• G06F 9/48 - Lancement de programmes Commutation de programmes, p. ex. par interruption

Abrégé

A method for calibrating a Lidar and a positioning device, a device, and a storage medium. The method includes: acquiring a point-cloud data sequence of the Lidar and a pose data sequence of the positioning device, in which, the Lidar and the positioning device are on a same traveling device; determining first trajectory information of the Lidar and second trajectory information of the positioning device according to the point-cloud data sequence and the pose data sequence; and determining a calibration offset between the Lidar and the positioning device according to the first trajectory information and the second trajectory information, in which, a matching degree between the first trajectory information and the second trajectory information satisfies a preset matching degree condition under a trajectory information correspondence determined based on the calibration offset.

Classes IPC  ?

• G01S 7/497 - Moyens de contrôle ou de calibrage
• G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p. ex. avec des goniomètres
• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
• G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoireSystèmes de détermination du sens d'un mouvement

Abrégé

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.

Classes IPC  ?

• G08B 21/00 - Alarmes réagissant à une seule condition particulière, indésirable ou anormale, et non prévues ailleurs
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
• G06V 30/14 - Acquisition d’images
• G08B 21/24 - Alarmes aide-mémoire, p. ex. alarmes contre la perte
• H04W 4/02 - Services utilisant des informations de localisation

Abrégé

The present invention relates to the technical field of artificial intelligence, and in particular to the fields of autonomous driving and intelligent transportation. Disclosed are a method and apparatus for controlling an autonomous vehicle, a device, and a storage medium. A specific embodiment of the method comprises: obtaining a real-time pitch angle of a vehicle; obtaining a predicted pitch angle corresponding to the real-time pitch angle; determining an acceleration of the vehicle on the basis of the real-time pitch angle and the predicted pitch angle; and on the basis of the acceleration, controlling the vehicle to travel. This embodiment saves the tuning time for the autonomous vehicle, and improves the somatosensory of the autonomous vehicle.

Classes IPC  ?

• B60W 40/107 - Accélération longitudinale
• B60W 40/11 - Mouvement de tangage
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes

Abrégé

Embodiments of the present disclosure disclose a method and apparatus for avoidance control of a vehicle, an electronic device, and a storage medium, where the method includes: obtaining behavior information of a moving obstacle, where the moving obstacle is located in a direction of movement of the vehicle and a distance between the moving obstacle and the vehicle satisfies a preset avoidance distance; determining an avoidance strategy for the vehicle based on the behavior information of the moving obstacle; and controlling movement of the vehicle based on the avoidance strategy. The method in the embodiments of the present disclosure considers the behavior information of the moving obstacle in the process of avoidance control of the vehicle, and the vehicle can be controlled to travel when the moving obstacle takes an avoidance action, thereby improving the accuracy of avoidance for the vehicle and the practicality of intelligent driving.

Classes IPC  ?

• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 30/18 - Propulsion du véhicule
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• G08G 1/01 - Détection du mouvement du trafic pour le comptage ou la commande
• G08G 1/16 - Systèmes anticollision

Abrégé

The present disclosure relates to the technical field of computers, and in particular to the technical field of autonomous driving. Provided are an obstacle detection method and apparatus, an electronic device, a non-transitory computer-readable storage medium, and a computer program product. The specific implementation solution is: acquiring vehicle body pose change information; predicting the position of a historically observed obstacle according to the vehicle body pose change information, so as to obtain predicted position information of the historically observed obstacle; acquiring position information of candidate obstacles, which is obtained by means of the current observation; according to the predicted position information of the historically observed obstacle and the position information of the candidate obstacles, associating the historically observed obstacle with the candidate obstacles, so as to generate known obstacles, and acquiring the confidence level of the known obstacles; and acquiring a valid obstacle from the known obstacles according to the confidence level.

Classes IPC  ?

• G01S 15/931 - Systèmes sonar, spécialement adaptés à des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G01S 15/87 - Combinaisons de systèmes sonar

Abrégé

The present disclosure relates to the technical field of computers, and particularly relates to the fields of autonomous driving, autonomous parking, intelligent transportation, computer vision, and electronic maps. The present disclosure provides a method and device for generating a traffic sign line map, and a storage medium. A specific implementation solution comprises: on the basis of a grid map corresponding to a preset geographical region, according to a plurality of frames of point cloud data of a traffic sign line in the preset geographical region, mapping each frame of point cloud data into the grid map, and increasing a state value of each grid unit having the point cloud data, wherein the more the number of times of mapping the point cloud data into the grid unit is, the larger the state value of the grid unit is, and the larger the possibility that the traffic sign line passes through the grid unit is; and according to the grid unit having the state value greater than a preset threshold, generating a traffic sign line map of the preset geographical region. The present disclosure can reduce the amount of calculation of generating the traffic sign line map, and improve the generation efficiency, accuracy, and consistency of the map.

Classes IPC  ?

• G06T 11/20 - Traçage à partir d'éléments de base, p. ex. de lignes ou de cercles

Produits et services

Computer program in the nature of downloadable software, namely downloadable software for use in autonomous vehicles and vehicles with intelligent driver assistance system; Recorded and downloadable computer software program for use in autonomous vehicles and vehicles with intelligent driver assistance system; Global Positioning System (GPS) devices; Navigation apparatus for vehicles; Portable media players; Simulators for driving or control of vehicles; Electronic chips, namely, computer chips; Sensors, namely, pressure sensors, temperature sensors, acceleration sensors, vibration sensors, electric sensors, and proximity sensors; liquid crystal display; charging unit for motor vehicles, namely, electric batteries for powering electric vehicles and charging stations for charging electric vehicles; Portable remote vehicles enclosure equipment, namely, vehicle safety equipment being electronic vibration, shock, motion, angle, temperature and voltage monitors; Sound recording carrier, namely, loud speakers; Videophones; Intercom devices, namely, intercoms; Automotive multimedia navigation system, namely, navigation systems for autonomous automobiles and satellite-aided navigation systems for automobiles; Downloadable electronic maps; Downloadable and recorded computer application program software for use in vehicle navigation equipment Research and development of new products for others; technology research, namely, technological research in the field of automobiles, computer hardware systems, and computer software systems; computer software design; Consultancy in the design and development of computer hardware; software operation service (SaaS), namely, software as a service (SaaS) services featuring software for autonomous vehicles, vehicle navigation equipment, and vehicle performance testing; meteorological information; autonomous vehicle performance testing; industrial design; exhibition venue design, namely, exhibition halls design; map drawing service in the nature of cartography and mapping services featuring geophysical maps

Abrégé

A control method for an autonomous driving vehicle is provided. The method includes: obtaining perception information of road conditions around a vehicle; determining a first control decision based on the perception information and autonomous driving decision logic; controlling the vehicle to perform autonomous driving according to the first control decision; determining, in response to detecting an assisted driving instruction, a second control decision that is different from the first control decision based on the perception information, the autonomous driving decision logic, and the assisted driving instruction; and controlling the vehicle to perform autonomous driving according to the second control decision.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/18 - Propulsion du véhicule
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Abrégé

The present disclosure provides a method and apparatus for unmanned vehicle dispatching management, a device, a storage medium and a program, which relates to autonomous driving and intelligent transportation technology in artificial intelligence. The specific implementation solution includes: receiving an unmanned vehicle dispatching request; determining, according to the unmanned vehicle dispatching request, a first task type corresponding to a first unmanned vehicle to be dispatched; generating a first order corresponding to the first unmanned vehicle, where the first order is used to indicate a driving task to be performed by the first unmanned vehicle, and a type of the driving task is the first task type; and sending the first order to the first unmanned vehicle. Through the above process, a dispatching management of unmanned vehicles is realized from the task dimension, so that there is no need to distinguish the types of unmanned vehicles.

Classes IPC  ?

• G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes

Produits et services

Data processing apparatus; computer software applications, downloadable; computer programs [downloadable software]; network communication apparatus; computer peripherals; navigation apparatus for vehicles [on-board computers]; portable media players; simulators for the steering and control of vehicles. Platform as a service [PaaS]; software as a service [SaaS]; updating and maintenance of computer software; computer software design; electronic data storage; cloud computing; consultancy in the design and development of computer hardware.

Abrégé

An apparatus for convolution operation is provided. The apparatus includes: a plurality of multipliers configured to receive matrix elements of two matrices, and multiply respective matrix elements to generate a plurality of product elements; a plurality of distributed caches each including a plurality of cache units and configured to respectively store the plurality of product elements in respective cache units; a register delay chain including a plurality of registers coupled in series and configured to receive a read control signal, delay the read control signal per stage to output a plurality of per-stage delayed read control signals, and respectively provide, to the plurality of distributed caches, the read control signal and the plurality of per-stage delayed read control signals; and an accumulator circuit configured to receive product elements in cache units corresponding to the read control signal and the plurality of per-stage delayed read control signals, and to generate an accumulation data based on the received product elements.

Classes IPC  ?

• G06F 17/15 - Calcul de fonction de corrélation
• G06F 17/16 - Calcul de matrice ou de vecteur

Produits et services

Construction consultancy; construction; upholstering; installation and repair of air-conditioning apparatus; motor vehicle maintenance and repair; vehicle washing; vehicle breakdown repair services; vehicle battery charging; vehicle battery replacement; retreading of tyres; anti-rust treatment for vehicles. Traffic information; navigation; gift wrapping; vehicle breakdown towing services; providing taxi booking services via mobile applications; car rental; taxi booking; car driving services; car sharing services; courier services [messages or merchandise].

Abrégé

Embodiments of the present provide a cross-camera obstacle tracking method, system and medium. The method includes: obtaining obstacle tracking results of images captured by at least two cameras, wherein each obstacle tracking result comprises results after identifying and tracking at least one obstacle in the image captured by each camera, and each obstacle is labeled with a local identifier for each camera; in response to a triggering condition of a main camera in the cameras to fusion of cross-camera obstacles being satisfied, establishing a mapping relation between local identifiers of the obstacles in the cameras and global identifiers according to the obstacle tracking result of each of the cameras; determining similarities of obstacles according to the obstacle tracking result of each of the cameras, and performing fusion of the global identifiers on the same obstacle according to the similarities; and obtaining final obstacle tracking results labeled with the global identifiers.

Classes IPC  ?

• G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
• G06T 7/292 - Suivi à plusieurs caméras
• B60R 1/00 - Dispositions pour la visibilité optiqueDispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d’images optiques, p. ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
• H04N 23/695 - Commande de la direction de la caméra pour modifier le champ de vision, p. ex. par un panoramique, une inclinaison ou en fonction du suivi des objets

Abrégé

A vehicle performance evaluation method, device and terminal are provided. The method includes: acquiring a labeled ADE score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state; acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index; acquiring data of a target ADE index within a preset time period, and acquiring a target ADE score according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; and acquiring a vehicle performance evaluation result according to the target ADE score. The passenger participation is not necessary, costs can be reduced and a vehicle evaluation efficiency can be improved.

Classes IPC  ?

• G07C 5/12 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente sous forme de graphique
• B60W 40/09 - Style ou comportement de conduite
• B60W 40/11 - Mouvement de tangage
• B60W 40/114 - Mouvement de lacet
• G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente

Abrégé

A vehicle performance evaluation method, device and terminal are provided. The method includes: acquiring a labeled ADE score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state; acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index; acquiring data of a target ADE index within a preset time period, and acquiring a target ADE score according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; and acquiring a vehicle performance evaluation result according to the target ADE score. The passenger participation is not necessary, costs can be reduced and a vehicle evaluation efficiency can be improved.

Classes IPC  ?

• G07C 5/12 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente sous forme de graphique
• B60W 40/09 - Style ou comportement de conduite
• B60W 40/11 - Mouvement de tangage
• B60W 40/114 - Mouvement de lacet
• G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente

Abrégé

A method, an apparatus, a device, a medium, and a system for controlling driving are provided. The method can include: providing, at a service node, an access to a functional node based on an access protocol supported by the functional node, the functional node being configured to provide a communication function with an on-board unit OBU of a transportation means or to provide a computing function for information associated with the transportation means. The method further includes: transmitting configuration information for the functional node to the functional node based on the access, and controlling a message interaction with the functional node based on the configuration information to facilitate a driving control of the transportation means via the OBU.

Classes IPC  ?

• B60W 50/06 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier pour améliorer la réponse dynamique du système d'aide à la conduite, p. ex. pour améliorer la vitesse de régulation, ou éviter le dépassement de la consigne ou l'instabilité
• H04L 29/08 - Procédure de commande de la transmission, p.ex. procédure de commande du niveau de la liaison
• H04L 29/06 - Commande de la communication; Traitement de la communication caractérisés par un protocole

Abrégé

A method for three-dimensional modeling. The method may include: acquiring coordinate points of obstacles in a surrounding environment of an autonomous driving vehicle in a vehicle coordinate system; determining a position of eyes of a passenger in the autonomous driving vehicle, and establishing an eye coordinate system using the position of the eyes as a coordinate origin; converting the coordinate points of the obstacles in the vehicle coordinate system to coordinate points in the eye coordinate system, and determining a visualization distance between the obstacles in the surrounding environment based on an observation angle of the eyes; and performing three-dimensional modeling of the surrounding environment, based on visualization distance between the coordinate points of the obstacles in the eye coordinate system and the obstacles.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• G06F 18/213 - Extraction de caractéristiques, p. ex. en transformant l'espace des caractéristiquesSynthétisationsMappages, p. ex. procédés de sous-espace
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes

Abrégé

Disclosed are a method and apparatus for processing an image, an electronic device and a storage medium. A specific implementation comprises: acquiring a matching association relationship of a feature point in each to-be-modeled image frame in a to-be-modeled image frame set, a plurality of to-be-modeled image frames in the to-be-modeled image frame set belonging to at least two different to-be-modeled image sequences; determining a first feature point set of the each to-be-modeled image frame based on the matching association relationship, the first feature point set including a first feature point, and the first feature point matching a corresponding feature point in a to-be-modeled image frame in a different to-be-modeled image sequence; and selecting, based on a number of the first feature point in the first feature point set in the each to-be-modeled image frame, a to-be-modeled image frame from the to-be-modeled image frame set for a three-dimensional reconstruction.

Classes IPC  ?

• G06T 17/00 - Modélisation tridimensionnelle [3D] pour infographie
• G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires

Abrégé

The present disclosure discloses a method for generating a parking model, an electronic device and a storage medium, and relates a field of autonomous parking technologies. The detailed implementing solution includes: obtaining multiple sample sets; constructing a parking cruise space for the target vehicle based on each sample set, and extracting a first parking trajectory corresponding to each sample set from each parking cruise space; recognizing an abnormal position on each first parking trajectory, and deleting driving data corresponding to the abnormal position from a sample set corresponding to each first parking trajectory to obtain target sample data in each sample set; and performing model training based on the target sample data in each sample set to generate a target parking model.

Classes IPC  ?

• G06V 10/774 - Génération d'ensembles de motifs de formationTraitement des caractéristiques d’images ou de vidéos dans les espaces de caractéristiquesDispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p. ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]Séparation aveugle de source méthodes de Bootstrap, p. ex. "bagging” ou “boosting”
• G06N 20/00 - Apprentissage automatique
• G06F 18/21 - Conception ou mise en place de systèmes ou de techniquesExtraction de caractéristiques dans l'espace des caractéristiquesSéparation aveugle de sources
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués
• B60W 30/06 - Manœuvre automatique de stationnement
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Abrégé

Embodiments of the present application disclose a positioning method and apparatus, an autonomous driving vehicle, an electronic device and a storage medium, relating to the field of autonomous driving technologies, comprising: collecting first pose information measured by an inertial measurement unit within a preset time period, and collecting second pose information measured by a wheel tachometer within the time period; generating positioning information according to the first pose information, the second pose information and the adjacent frame images; controlling driving of the autonomous driving vehicle according to the positioning information. The positioning information is estimated by combining the first pose information and the second pose information corresponding to the inertial measurement unit and the wheel tachometer respectively. Compared with the camera, the inertial measurement unit and the wheel tachometer are not prone to be interfered by the external environment.

Classes IPC  ?

• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués
• G06F 18/25 - Techniques de fusion

Abrégé

Embodiments of the present disclosure generally relate to a method for controlling a simulation vehicle, an electronic device, and a computer readable storage medium. According to the method, a simulation vehicle determines a first region corresponding to a first simulation position where the simulation vehicle is located at a first time point; obtains first environment information about the first region and second environment information about a second region adjacent to the first region; sends the first environment information and the second environment information to a control device of the simulation vehicle; and determines a first action performed by the simulation vehicle at a second time point after the first time point based on a control signal in response to receiving the control signal from the control device, the control signal being determined by the control device based on the first environment information and the second environment information.

Classes IPC  ?

• G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
• G06F 30/20 - Optimisation, vérification ou simulation de l’objet conçu
• G06K 9/32 - Alignement ou centrage du capteur d'image ou de la zone image

Abrégé

A method for simulating an obstacle in an unmanned simulation scene includes: for obstacle information in a three-dimensional scene map, determining Gaussian distribution information of obstacle position detected by using a perception algorithm to be tested based on actual perception performance of the perception algorithm; adjusting each position of the simulated obstacle in the initial motion trajectory sequence, such that a position deviation between each adjusted position point in the target motion trajectory sequence and the corresponding position point in the initial motion trajectory sequence follows a Gaussian distribution; and adding the target motion trajectory sequence of the simulated obstacle to the three-dimensional scene map.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 40/02 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes
• G06T 19/20 - Édition d'images tridimensionnelles [3D], p. ex. modification de formes ou de couleurs, alignement d'objets ou positionnements de parties

Abrégé

The disclosure provides a 3-dimensional reconstruction method, an electronic device and a storage medium. The method includes: obtaining an image sequence pre-collected by a camera; obtaining nominal intrinsic parameters of the camera, and preset initial values of distortion coefficients of the camera, the camera being a camera for collecting the image sequence; calculating fluctuation ranges of the distortion coefficients; performing the 3D reconstruction on the image sequence based on the nominal intrinsic parameters, the initial values of the distortion coefficients, and the fluctuation ranges of the distortion coefficients; and during the 3D reconstruction, optimizing an obtained visual point cloud and a camera pose.

Classes IPC  ?

• G06T 5/00 - Amélioration ou restauration d'image
• G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra
• G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques

Abrégé

Embodiments of the present disclosure provide a method and apparatus for determining a velocity of an obstacle, a device, and a medium. An implementation includes: acquiring a first point cloud data of the obstacle at a first time and a second point cloud data of the obstacle at a second time; registering the first point cloud data and the second point cloud data by moving the first point cloud data or the second point cloud data; and determining a moving velocity of the obstacle based on a distance between two data points in a registered data point pair.

Classes IPC  ?

• G01P 3/64 - Dispositifs caractérisés par la détermination du temps mis à parcourir une distance constante
• G01S 13/89 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour la cartographie ou la représentation
• G01S 13/931 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres

Abrégé

A method and apparatus for detecting an obstacle, an electronic device, and a storage medium. A specific implementation of the method includes: detecting, by a millimeter-wave radar, position points of candidate obstacles in front of a vehicle; detecting, by a camera, a left road boundary line and a right road boundary line of a road on which a vehicle is located; separating the position points of the candidate obstacles according to the left road boundary line and the right road boundary line of the road on which the vehicle is located, and extracting position points between the left road boundary line and the right road boundary line; projecting the position points between the left road boundary line and the right road boundary line onto an image; and detecting, based on projection points of the position points on the image, a target obstacle in front of the vehicle.

Classes IPC  ?

• G06T 7/50 - Récupération de la profondeur ou de la forme
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
• G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
• G01S 7/41 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cibleSignature de cibleSurface équivalente de cible
• G01S 13/86 - Combinaisons de systèmes radar avec des systèmes autres que radar, p. ex. sonar, chercheur de direction
• G01S 13/931 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G06V 10/25 - Détermination d’une région d’intérêt [ROI] ou d’un volume d’intérêt [VOI]
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués

Abrégé

The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains point cloud data collected by a LiDAR on a device at a current time; determines, based on the point cloud data and a global map built in a global coordinate system, global positioning information of the device in the global coordinate system at the current time; and determine, based on the point cloud data and a local map built in a local coordinate system, local positioning information of the device in the local coordinate system at the current time. A positioning result of the device at the current time is determined based on at least the global positioning information and the local positioning information. Techniques of the present disclosure can provide an effective and stable positioning service.

Classes IPC  ?

• G01C 21/30 - Mise en coïncidence avec des cartes ou des contours
• G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
• G01S 7/48 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
• G06F 18/25 - Techniques de fusion

Abrégé

The present disclosure provides a method, an apparatus, a computing device and a computer readable storage medium for detecting an environmental change, and relates to the field of autonomous driving. The method obtains a global map for an area and a first local map built in real time for a sub-area in the area; and determines an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change. Techniques of the present disclosure can automatically detect environmental changes that affect the positioning of autonomous driving, thereby facilitating the updating of positioning maps.

Classes IPC  ?

• G01C 21/32 - Structuration ou formatage de données cartographiques
• G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions

Abrégé

The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains inertial measurement data of a device to be positioned at a current time and point cloud data collected by a LiDAR on the device at the current time; determines, by integrating the inertial measurement data, inertial positioning information of the device in an inertial coordinate system at the current time; and determines, based on the inertial positioning information, the point cloud data and at least one local map built in a local coordinate system, a positioning result of the device in the local coordinate system at the current time. Techniques of the present disclosure can provide an effective and stable local positioning result.

Classes IPC  ?

• G01C 21/30 - Mise en coïncidence avec des cartes ou des contours
• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
• G01S 17/06 - Systèmes déterminant les données relatives à la position d'une cible
• G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
• G01C 21/00 - NavigationInstruments de navigation non prévus dans les groupes

Abrégé

The present disclosure provides a data acquisition method, apparatus, device and computer readable storage medium. According to the embodiments of the present disclosure, determination is made as to whether a preset stable driving condition is met based on acquired driving scene data of the driving scene where the vehicle is currently located, and acquired driving behavior data; if the preset stable driving condition is met, the driving scene data and the driving behavior data are acquired at a frequency lower than a preset sampling frequency. As a result, it is possible to reduce data redundancy in similar scenes and similar diving modes, reduce the amount of data, reduce occupation of the storage resources and transmission resources and facilitate subsequent analysis, and it is possible to implement the dynamic acquisition of driving scene data and driving behavior data by scenes and modes.

Classes IPC  ?

• B60W 40/09 - Style ou comportement de conduite
• B60W 40/06 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes liés à l'état de la route
• B60W 40/105 - Vitesse
• B60W 40/107 - Accélération longitudinale
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués

Abrégé

The present disclosure provides an information processing method, system, device and computer storage medium. The method comprises obtaining obstacle information acquired by an ultrasonic radar and a LiDAR respectively; fusing the obstacle information acquired by the LiDAR with the obstacle information acquired by the ultrasonic radar. The present disclosure avoids the problem that whether there is an obstacle laterally in front of or directly in front of the vehicle cannot be judged only according to the obstacle information returned by the ultrasonic radar, so that the driverless vehicle will stop automatically to avoid collision and its normal drive is affected, improves the obstacle recognition precision and ensures safe and stable drive of the driverless vehicle.

Classes IPC  ?

• G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G01S 17/87 - Combinaisons de systèmes utilisant des ondes électromagnétiques autres que les ondes radio
• G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
• G01S 7/48 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
• G01S 7/487 - Extraction des signaux d'écho désirés
• G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
• G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques

Abrégé

Embodiments of the present disclosure provide a bend driving control method for an autonomous vehicle, a device and a storage medium, and relate to a field of perception and autonomous driving technologies. The method includes: obtaining an occupancy width of an autonomous vehicle on a target bend when the autonomous vehicle drives on the target bend; detecting location information of an obstacle on the target bend; and controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle.

Classes IPC  ?

• B60W 30/095 - Prévision du trajet ou de la probabilité de collision
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 40/072 - Courbure de la route
• B60W 40/12 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés à des paramètres du véhicule lui-même
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes

Abrégé

The present disclosure provides a method, system, and apparatus for processing parking and a vehicle controller, and relates to the field of intelligent transportation technology, specifically to the field of automated parking technology. The method is executed by a parking system deployed on a vehicle controller, the parking system including a perception module and other modules except the perception module; the perception module being deployed on a first operating system in the vehicle controller; and the other modules being deployed on a second operating system in the vehicle controller; the method includes: processing an image collected by an image collector through the perception module to obtain perception result data; and controlling a vehicle based on the perception result data obtained from the perception module by the other modules.

Classes IPC  ?

• B60W 30/06 - Manœuvre automatique de stationnement
• B60W 50/06 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier pour améliorer la réponse dynamique du système d'aide à la conduite, p. ex. pour améliorer la vitesse de régulation, ou éviter le dépassement de la consigne ou l'instabilité
• G01S 15/931 - Systèmes sonar, spécialement adaptés à des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués

Abrégé

A method and apparatus for positioning a vehicle. The method may include: acquiring an identification element and non-identification elements of a current vehicle. The method can further include matching the identification element of the current vehicle with position elements in a high-precision map to determine an initial position of the current vehicle. The method can further include using at least one position element in the high-precision map to perform observational constraints on the non-identification elements of the current vehicle to acquire position elements corresponding to the non-identification elements of the current vehicle. The method can further include adjusting the initial position of the current vehicle using the position elements corresponding to the non-identification elements of the current vehicle to obtain a target position of the current vehicle.

Classes IPC  ?

• G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• G06N 3/04 - Architecture, p. ex. topologie d'interconnexion
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués

Abrégé

A method, an electronic device and a computer-readable storage medium for testing an autonomous driving system which relate to the technical field of autonomous driving are proposed. An embodiment for testing the autonomous driving system includes: obtaining scenario description information of a testing scenario; analyzing the scenario description information, and determining a scenario risk, a scenario probability and a scenario complexity corresponding to the testing scenario; obtaining a scenario weight of the testing scenario according to the scenario risk, scenario probability and scenario complexity; determining a test period corresponding to the scenario weight, where the test period is used for the autonomous driving system being tested in the testing scenario. The technical solution may reduce the testing pressure of the autonomous driving system and improve the testing efficiency of the autonomous driving system.

Classes IPC  ?

• G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 50/14 - Moyens d'information du conducteur, pour l'avertir ou provoquer son intervention
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• G08G 1/16 - Systèmes anticollision

Abrégé

Embodiments of the present provide a cross-camera obstacle tracking method, system and medium. The method includes: obtaining obstacle tracking results of images captured by at least two cameras, wherein each obstacle tracking result comprises results after identifying and tracking at least one obstacle in the image captured by each camera, and each obstacle is labeled with a local identifier for each camera; in response to a triggering condition of a main camera in the cameras to fusion of cross-camera obstacles being satisfied, establishing a mapping relation between local identifiers of the obstacles in the cameras and global identifiers according to the obstacle tracking result of each of the cameras; determining similarities of obstacles according to the obstacle tracking result of each of the cameras, and performing fusion of the global identifiers on the same obstacle according to the similarities; and obtaining final obstacle tracking results labeled with the global identifiers.

Classes IPC  ?

• G06T 7/292 - Suivi à plusieurs caméras
• H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
• B60R 1/00 - Dispositions pour la visibilité optiqueDispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d’images optiques, p. ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules
• G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales

Abrégé

The disclosure provides a method, an apparatus, a device and a storage medium for positioning an object. The method includes: obtaining a map related to a region where the object is located, the map including a plurality of map layers having different height information; determining, based on the map and current point cloud data related to the object, an estimated position of the object, an estimated height corresponding to the estimated position and an estimated probability that the object is located at the estimated position with an estimated posture; and determining, at least based on the estimated position, the estimated height and the estimated probability, positioning information for the object, the positioning information indicating at least one of a current position of the object, a current height of the object and a current posture of the object.

Classes IPC  ?

• G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
• G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
• G06N 7/00 - Agencements informatiques fondés sur des modèles mathématiques spécifiques
• G06V 10/20 - Prétraitement de l’image

Abrégé

The present application provides a method and apparatus for planning an autonomous vehicle, an electronic device and a storage medium, which relates to the field of autonomous driving. According to the technical solutions of the present application, time points of entering a vehicle-converging area can be accurately predicted according to traveling conditions of two parties, so that a driving behavior of the autonomous vehicle is controlled more accurately. The specific implementation is as follows: acquiring first traveling information of an autonomous vehicle; acquiring second traveling information of at least one obstacle vehicle; predicting a driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle; planning a vehicle-converging strategy for the autonomous vehicle according to the first traveling information and the driving intention of the obstacle vehicle; and controlling the autonomous vehicle to travel according to the vehicle-converging strategy.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 30/095 - Prévision du trajet ou de la probabilité de collision
• B60W 30/18 - Propulsion du véhicule
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Abrégé

Embodiments of the present disclosure disclose a parking space detection method and apparatus, an electronic equipment, a vehicle, and a storage medium, which relate to the field of automatic driving technologies and in particular, to the field of autonomous parking, including: collecting ultrasonic information during a moving process of a vehicle, generating a target grid map, performing feature recognition on the target grid map to obtain a line segment, and generating a parking space according to the line segment and the target grid map. By implementing the present disclosure, a disadvantage of a limited range of application in the prior art caused by that the detection of a parking space requires a travelling direction of a vehicle to be parallel with a side of an obstacle and requires the vehicle to be close to the obstacle is avoided, thereby achieving a relatively wide use and improving detection accuracy.

Classes IPC  ?

• G01S 15/931 - Systèmes sonar, spécialement adaptés à des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G01S 15/89 - Systèmes sonar, spécialement adaptés à des applications spécifiques pour la cartographie ou la représentation
• G08G 1/14 - Systèmes de commande du trafic pour véhicules routiers indiquant des places libres individuelles dans des parcs de stationnement
• G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p. ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersectionsAnalyse de connectivité, p. ex. de composantes connectées
• G06V 10/143 - Détection ou éclairage à des longueurs d’onde différentes
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes

Abrégé

Embodiments of the present disclosure provide a method and apparatus for detecting an obstacle. The method may include: acquiring first point cloud data collected by a first vehicle-mounted laser radar and second point cloud data collected by a second vehicle-mounted laser radar, where a height of the first vehicle-mounted laser radar from a ground is greater than a height of the second vehicle-mounted laser radar from the ground, and a number of wiring harnesses of the first vehicle-mounted laser radar is greater than a number of wiring harnesses of the second vehicle-mounted laser radar; performing ground estimation based on the first point cloud data; filtering out a ground point in the second point cloud data according to the ground estimation result of the first point cloud data; and performing obstacle detection based on the second point cloud data after the ground point is filtered out.

Classes IPC  ?

• G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G01S 7/48 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
• G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie

Abrégé

The present disclosure discloses a remote login processing method, apparatus, device and storage medium for an unmanned vehicle, and relates to the technical field of remote control. The implementation method of the specific method includes: sending a login request to an unmanned vehicle terminal through a first communication channel in response to a the login request received from an operator, and waiting to receive a reply instruction returned by the unmanned vehicle terminal; returning the reply instruction to the operator through the second communication channel in response to the reply instruction received from the unmanned vehicle terminal, so that the operator logs in the unmanned vehicle terminal according to the reply instruction, where there is a persistent connection state that unidirectionally authenticated between the second communication channel and the unmanned vehicle terminal.

Classes IPC  ?

• H04L 9/40 - Protocoles réseaux de sécurité
• H04W 12/06 - Authentification
• B60R 25/24 - Moyens pour enclencher ou arrêter le système antivol par des éléments d’identification électroniques comportant un code non mémorisé par l’utilisateur
• H04B 7/185 - Stations spatiales ou aériennes

Abrégé

Embodiments of the present disclosure disclose a method for controlling an autonomous vehicle to pass through a curve, a device and a medium, and relate to the field of autonomous driving technologies. At least one implementation of the method for controlling an autonomous vehicle to pass through a curve includes: determining a curve boundary within a sensing area in a current driving direction of the autonomous vehicle based on a current position of the autonomous vehicle on the curve; determining a current safe stopping distance of the autonomous vehicle on the curve based on current driving parameters of the autonomous vehicle and the curve boundary; determining a speed threshold of the autonomous vehicle based on the current safe stopping distance, braking parameters of the autonomous vehicle and a curve curvature corresponding to the current position; and controlling a speed of the autonomous vehicle not to exceed the speed threshold.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 30/095 - Prévision du trajet ou de la probabilité de collision
• B60W 40/072 - Courbure de la route
• B60W 40/105 - Vitesse
• B60W 30/045 - Commande de la stabilité dynamique du véhicule améliorant les performances en virage
• B60W 30/18 - Propulsion du véhicule
• B60W 30/04 - Commande de la stabilité dynamique du véhicule destinée à la prévention du basculement

Abrégé

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.

Classes IPC  ?

• B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 30/095 - Prévision du trajet ou de la probabilité de collision

Abrégé

A method and apparatus for jointly calibrating external parameters of multiple cameras. The method includes: determining an overlapped area of angles of view of cameras, and obtaining a 2D verification point set in an image of the overlapped area, the 2D verification point set including at least one verification point; performing external parameter calibration for each camera separately to obtain a current external parameter of the camera; calculating coordinates of a 3D point corresponding to each verification point in a world coordinate system using the current external parameter of each camera separately, and calculating a loss function based on the coordinates of the 3D point, the loss function being used to measure an overlay error of calibration of the cameras under the current external parameter; and performing joint calibration based on the loss function to obtain a target external parameter of each camera.

Classes IPC  ?

• H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
• G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra
• G06F 17/18 - Opérations mathématiques complexes pour l'évaluation de données statistiques

Abrégé

A method, including: acquiring a point cloud frame including point cloud data of a pedestrian; projecting the point cloud data of the pedestrian to a ground coordinate system to obtain projection point data of the pedestrian; determining a direction of a connection line between the two shoulders of the pedestrian, based on a location distribution of the projection point data; extracting a point cloud of a stable region from the point cloud data of the pedestrian based on the direction of the connection line between the two shoulders of the pedestrian, a form change range of the stable region when the pedestrian moves being smaller than form change ranges of other regions of the pedestrian; and determining movement information of the pedestrian based on a coordinate of a center point of the point cloud of the stable region in a plurality of consecutive point cloud frames.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes

Abrégé

Embodiments of the present disclosure provide a method for processing vehicle driving mode switching, a vehicle and a server. The method includes: determining (S103) a target switching reason upon detecting that a driving mode of a vehicle is switched from unmanned driving to manned driving; acquiring (S104) status information and/or traveling environment information of the vehicle corresponding to the target switching reason; and sending the status information and/or the traveling environment information, and the target switching reason to a server, to enable the server to analyze the target switching reason, and improve the automatic driving system continuously according to the analysis result.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 40/02 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes
• B60W 50/08 - Interaction entre le conducteur et le système d'aide à la conduite
• B60W 50/14 - Moyens d'information du conducteur, pour l'avertir ou provoquer son intervention
• B60W 50/00 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier

Abrégé

A remote control method for an autonomous vehicle includes: a central control device receives a remote control request message sent by a vehicle; detects a driving operation of a control person on the simulated cockpit; generates an instruction for simulating a driving operation according to the driving operation of a control person on the simulated cockpit, where the instruction for simulating a driving operation is used to simulate the driving operation of the control person on the simulated cockpit; and sends a remote control message to the vehicle. A remote control apparatus for an autonomous vehicle is also related.

Classes IPC  ?

• G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
• B60W 10/20 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des systèmes de direction
• B60W 40/02 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes
• B60W 40/08 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conducteurs ou aux passagers

Abrégé

The embodiments of the present disclosure provide a detection method, apparatus for automatic driving sensor, and electronic device. The method includes: pre-establishing a standard association relationship, the sensor to-be-detected is used for capturing in a fixed scene, and a corresponding capturing result is displayed.

Classes IPC  ?

• G01B 11/26 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour tester l'alignement des axes
• G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
• G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
• G06V 10/24 - Alignement, centrage, détection de l’orientation ou correction de l’image
• G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués

Abrégé

A method and apparatus for determining a turn-round path of a vehicle, a device and a storage medium are provided. An embodiment of the method includes: determining a starting position and a target position for the vehicle to turn round on a road; determining, based at least partially on road information associated with the road and vehicle information associated with the vehicle, a candidate turn-round path between the starting position and the target position; evaluating the feasibility of the candidate turn-round path; and determining, based on the evaluation on the feasibility, a turn-round path by which the vehicle is to turn round on the road.

Classes IPC  ?

• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• B60W 30/045 - Commande de la stabilité dynamique du véhicule améliorant les performances en virage
• B60W 40/04 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes liés aux conditions de trafic
• B60W 40/06 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes liés à l'état de la route

Abrégé

A method, apparatus, device, and medium for verifying vehicle information are provided. A specific implementation scheme is: determining a target coding precision and a target coding mode of a target data packet to be transmitted; coding the target data packet based on the target coding precision and the target coding mode, to determine target verification information of the target data packet; and transmitting the target data packet and the target verification information, to instruct a receiving-end vehicle to verify the target data packet based on the target verification information.

Classes IPC  ?

• H04W 12/106 - Intégrité des paquets ou des messages
• H04W 4/46 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons pour la communication de véhicule à véhicule
• H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p. ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
• G05B 19/418 - Commande totale d'usine, c.-à-d. commande centralisée de plusieurs machines, p. ex. commande numérique directe ou distribuée [DNC], systèmes d'ateliers flexibles [FMS], systèmes de fabrication intégrés [IMS], productique [CIM]
• H04W 28/04 - Détection d’erreurs

Abrégé

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.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes

Abrégé

The present disclosure provides a method for measuring a sensing range of a vehicle, a device and a medium, and relates to a technical field of automatic driving. The method includes: determining a target road side unit to be measured according to a road side unit identifier; when it is detected that the vehicle receives a road-side message from the target road side unit, determining vehicle positioning information of the vehicle when the road-side message is received; and determining a sensing range of the vehicle to the target road side unit in a target lane in which the vehicle travels according to the vehicle positioning information.

Classes IPC  ?

• H04W 4/02 - Services utilisant des informations de localisation
• H04W 4/44 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons pour la communication entre véhicules et infrastructures, p. ex. véhicule à nuage ou véhicule à domicile
• G01S 11/02 - Systèmes pour déterminer la distance ou la vitesse sans utiliser la réflexion ou la reradiation utilisant les ondes radioélectriques
• G08G 1/0962 - Dispositions pour donner des instructions variables pour le trafic avec un indicateur monté à l'intérieur du véhicule, p. ex. délivrant des messages vocaux

Abrégé

Embodiments of the present disclosure provide a method and an apparatus for controlling a vehicle, a device and a storage medium. The method includes: in response to determining that a target vehicle is located in a historical takeover area, obtaining historical control information associated with passing through a historical path in the historical takeover area, the historical takeover area indicating an area through which a vehicle in a manual control state passed in a previous period; determining a planned path for the target vehicle to pass through the historical takeover area based on the historical control information; and controlling the target vehicle to pass through the historical takeover area in an automatic control state based on the planned path.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire
• G01C 21/36 - Dispositions d'entrée/sortie pour des calculateurs embarqués

Abrégé

The present disclosure discloses a method, an apparatus, an electronic device and a medium for acquiring map data, and relates to the field of intelligent transportation. A specific implementation solution is: determining a target areas of interest in a map, wherein the map is divided into at least two areas of interest; sending a data acquisition instruction to data acquisition terminals to acquire the map data in the target areas of interest; and receiving the map data fed back from the data acquisition terminal and updating the target areas of interest in the map according to the map data.

Classes IPC  ?

• G06F 16/29 - Bases de données d’informations géographiques
• G06F 16/23 - Mise à jour
• G06F 16/215 - Amélioration de la qualité des donnéesNettoyage des données, p. ex. déduplication, suppression des entrées non valides ou correction des erreurs typographiques
• G06F 16/25 - Systèmes d’intégration ou d’interfaçage impliquant les systèmes de gestion de bases de données
• H04L 67/52 - Services réseau spécialement adaptés à l'emplacement du terminal utilisateur

Abrégé

A vehicle control method and device are disclosed. An embodiment of the method includes: receiving an assistance driving instruction associated with a vehicle; and sending an assistance control instruction to the vehicle, to cause the vehicle to execute the assistance control instruction to control the vehicle, the assistance control instruction being generated through a simulation driving operation performed by an assistance driving user based on travelling environment information of the vehicle presented to the assistance driving user.

Classes IPC  ?

• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
• B60W 30/06 - Manœuvre automatique de stationnement

Abrégé

Embodiments of the present disclosure relate to a method and apparatus for detecting ground point cloud points. The method may include: determining a segmentation plane and a ground based on a point cloud collected by a lidar; segmenting the point cloud into a first sub point cloud and a second sub point cloud based on the segmentation plane; and determining the point cloud points whose distances from the ground are smaller than a first distance threshold in the first sub point cloud as ground point cloud points, and determining the point cloud points whose distances from the ground are smaller than a second distance threshold in the second sub point cloud as the ground point cloud points, where the first distance threshold is smaller than the second distance threshold.

Classes IPC  ?

• G06T 7/13 - Détection de bords
• G06T 7/136 - DécoupageDétection de bords impliquant un seuillage

Abrégé

Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method may include: acquiring point cloud data and image data collected by a vehicle during a driving process; determining a plurality of time thresholds based on a preset time threshold value range; executing following processing for each time threshold: identifying obstacles included in each point cloud frame and each image frame respectively; determining a similarity between the obstacles; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine the number of obstacles; and determining, based on a plurality of numbers, and outputting a target time threshold.

Classes IPC  ?

• G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
• G06T 7/50 - Récupération de la profondeur ou de la forme
• G08G 1/16 - Systèmes anticollision
• G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions

Abrégé

A vehicle control method and device. The method may include: acquiring, by a vehicle, cooperative travel association information generated by an other vehicle, where the other vehicle travels in cooperation with the vehicle, and the cooperative travel association information is used to avoid the vehicle from performing an operation conflicted with an operation performed by the other vehicle; and performing, by the vehicle, an operation associated with the acquired cooperative travel association information.

Classes IPC  ?

• G08G 1/00 - Systèmes de commande du trafic pour véhicules routiers
• G08G 1/01 - Détection du mouvement du trafic pour le comptage ou la commande
• G08G 1/14 - Systèmes de commande du trafic pour véhicules routiers indiquant des places libres individuelles dans des parcs de stationnement
• H04W 4/40 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons

Abrégé

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.

Classes IPC  ?

• G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra
• G06T 5/50 - Amélioration ou restauration d'image utilisant plusieurs images, p. ex. moyenne ou soustraction
• H04N 17/00 - Diagnostic, test ou mesure, ou leurs détails, pour les systèmes de télévision

Abrégé

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.

Classes IPC  ?

• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
• G01S 17/04 - Systèmes de détermination de la présence d'une cible
• G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires

Abrégé

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.

Classes IPC  ?

• G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c.-à-d. étalonnage de caméra
• G06T 7/246 - Analyse du mouvement utilisant des procédés basés sur les caractéristiques, p. ex. le suivi des coins ou des segments
• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 50/06 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier pour améliorer la réponse dynamique du système d'aide à la conduite, p. ex. pour améliorer la vitesse de régulation, ou éviter le dépassement de la consigne ou l'instabilité

Abrégé

Embodiments of the present disclosure disclose a vehicle fault processing method, a device and a medium, and relate to the field of autonomous driving technologies. The vehicle fault processing method includes: obtaining operating index data of a target vehicle and driving environment information of the target vehicle, the operating index data being configured to determine an operating condition of the target vehicle; determining whether a fault occurs in the target vehicle based on the operating index data; and when a fault occurs in the target vehicle, controlling the target vehicle to place a warning sign at a preset position based on the driving environment information.

Classes IPC  ?

• B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
• B60W 50/14 - Moyens d'information du conducteur, pour l'avertir ou provoquer son intervention
• G08G 1/048 - Détection du mouvement du trafic pour le comptage ou la commande avec des dispositions pour compenser les conditions ambiantes ou d'autres paramètres, p. ex. la neige, un véhicule arrêté à un détecteur
• G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes

Abrégé

Embodiments of the present disclosure provide a method and apparatus for evaluating data, a device, and a computer-readable storage medium in the field of autonomous driving. The method may include: generating, at least based on satellite navigation data related to a vehicle, a reference position and posture data set of the vehicle; generating, at least based on a part of the satellite navigation data, a test position and posture data set of the vehicle, the accuracy of the test position and posture data set being lower than that of the reference position and posture data set; obtaining a revised position and posture data set for the test position and posture data set; and evaluating, based on the reference position and posture data set and the revised position and posture data set, a correction performance for the test position and posture data set.

Classes IPC  ?

• G01S 19/23 - Test, contrôle, correction ou étalonnage d'un élément récepteur
• G01S 19/47 - Détermination de position en combinant les mesures des signaux provenant du système de positionnement satellitaire à radiophares avec une mesure supplémentaire la mesure supplémentaire étant une mesure inertielle, p. ex. en hybridation serrée