公开(公告)号：US12099121B2

公开(公告)日：2024-09-24

申请号：US17343489

申请日：2021-06-09

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yuhe Jin ,  Nan Wu ,  Yiming Li

IPC: G01S17/89 ,  G01B11/26 ,  G01S7/48 ,  G01S17/42 ,  G01S17/87 ,  G01S17/88 ,  B62D53/06 ,  G01B11/24 ,  G01S17/02

CPC classification number: G01S17/89 ,  G01B11/26 ,  G01S7/4802 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/87 ,  G01S17/88 ,  B62D53/06 ,  G01B11/24 ,  G01S17/02

Abstract: The present disclosure provides a method and an apparatus for trailer angle measurement, as well as a vehicle, applied in a vehicle including a tractor and a trailer. At least one LiDAR is provided on each of two sides of the tractor. The method includes: obtaining, an initial trailer model containing initial point cloud data; controlling the to emit laser light; controlling each of the LiDARs to receive a corresponding point cloud reflected by the surface of the trailer; and calculating a trailer angle based on the point cloud data and the initial point cloud data using a point cloud matching algorithm. With the embodiments of the present disclosure, fast and accurate measurement of a trailer angle can be achieved with a simple structure.

公开(公告)号：US12293668B2

公开(公告)日：2025-05-06

申请号：US18618476

申请日：2024-03-27

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Wenrui Li ,  Nan Wu ,  Rui Peng ,  Qingxin Bi ,  Yuhe Jin ,  Yiming Li

IPC: B60K35/00 ,  B60K35/10 ,  B60K35/22 ,  B60K35/28 ,  B60K35/85 ,  B60W30/165 ,  B60W50/00 ,  B60W50/14 ,  B60W60/00 ,  G05D1/00 ,  G07C5/08 ,  G08G1/00 ,  H04W4/46 ,  H04W76/10

Abstract: The present disclosure provides a method and a server for platooning. The method provides: obtaining, based on a platooning request message, a first vehicle type and first kinematic information of a vehicle to join a platoon, a second vehicle type and second kinematic information of a current tail of the platoon, first sensor operating status information of the vehicle to join the platoon, and second sensor operating status information of the current tail vehicle; performing vehicle kinematic determination to obtain a kinematic determination result; performing sensor determination to obtain a sensor determination result; transmitting a confirmation request message to a vehicle of the platoon when the determination results are both successful; and controlling, upon receiving a request approval message, the vehicle to join the platoon to establish a V2V communication connection with each vehicle in the platoon. The method can achieve platoon without any road side unit.

公开(公告)号：US12044523B2

公开(公告)日：2024-07-23

申请号：US17325151

申请日：2021-05-19

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yuhe Jin ,  Yiming Li ,  Nan Wu

IPC: G01B11/26 ,  G01S17/06 ,  G01S17/89

CPC classification number: G01B11/26 ,  G01S17/06 ,  G01S17/89

Abstract: The present disclosure provides a method, an apparatus and a vehicle for trailer angle measurement, applied in a semi-trailer including a tractor and a trailer. At least one LiDAR is provided on each of two sides of a rear part of the tractor. A reflector with a reflective surface is fixedly provided at a front part of the trailer, and the reflective surface faces the LiDARs. The method includes: controlling the LiDARs to emit laser light, such that the reflective surface of the reflector reflects the laser light; controlling each of the LiDARs to receive a corresponding laser point cloud reflected by the reflector; and calculating a trailer angle based on the corresponding laser point clouds. The method and apparatus can increase the range of trailer angle measurement, such that the trailer angle can be measured even if the trailer angle is relatively large.

公开(公告)号：US11972690B2

公开(公告)日：2024-04-30

申请号：US17347099

申请日：2021-06-14

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Wenrui Li ,  Nan Wu ,  Rui Peng ,  Qingxin Bi ,  Yuhe Jin ,  Yiming Li

IPC: B60K35/00 ,  B60W30/165 ,  B60W50/00 ,  B60W50/14 ,  B60W60/00 ,  G05D1/02 ,  G07C5/08 ,  G08G1/00 ,  H04W4/46 ,  H04W76/10

CPC classification number: G08G1/22 ,  B60K35/00 ,  B60W30/165 ,  B60W50/00 ,  B60W50/14 ,  B60W60/0025 ,  G07C5/085 ,  G08G1/20 ,  H04W4/46 ,  H04W76/10 ,  B60K2370/166 ,  B60W2050/146 ,  B60W2554/4041 ,  B60W2554/802 ,  B60W2556/45

Abstract: The present disclosure provides a method and a server for platooning. The method provides: obtaining, based on a platooning request message, a first vehicle type and first kinematic information of a vehicle to join a platoon, a second vehicle type and second kinematic information of a current tail of the platoon, first sensor operating status information of the vehicle to join the platoon, and second sensor operating status information of the current tail vehicle; performing vehicle kinematic determination to obtain a kinematic determination result; performing sensor determination to obtain a sensor determination result; transmitting a confirmation request message to a vehicle of the platoon when the determination results are both successful; and controlling, upon receiving a request approval message, the vehicle to join the platoon to establish a V2V communication connection with each vehicle in the platoon. The method can achieve platoon without any road side unit.

公开(公告)号：US12067883B2

公开(公告)日：2024-08-20

申请号：US17334467

申请日：2021-05-28

Applicant: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.

Inventor： Wenrui Li ,  Nan Wu ,  Rui Peng ,  Qingxin Bi ,  Yuhe Jin ,  Yiming Li

IPC: G08G1/00 ,  G08G1/0967 ,  H04W4/46

CPC classification number: G08G1/22 ,  G08G1/096791 ,  H04W4/46

Abstract: The present disclosure relates to Internet of Vehicles technology, and provides a method, an apparatus, and system for redundant communication for platooning. The method includes: transmitting application data to be transmitted to at least two V2V devices; and controlling the at least two V2V devices that have received the application data to transmit the application data to a predetermined air interface, such that a receiving apparatus obtains the application data from the air interface. With the redundant configuration of the V2V devices, the problem caused by communication failure of one single V2V device can be avoided, so as to ensure stability of V2V communication and guarantee safe operation for platooning.

公开(公告)号：US12043248B2

公开(公告)日：2024-07-23

申请号：US17360649

申请日：2021-06-28

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yiming Li ,  Xu Xiao ,  Yuhe Jin ,  Jinpeng Cai ,  Nan Wu

IPC: B60W30/06 ,  B60W10/04 ,  B60W10/18 ,  B60W50/00 ,  G01S7/48 ,  G01S17/42 ,  G01S17/931 ,  G06F18/232 ,  G06T7/521 ,  G06V10/75 ,  G08G1/00 ,  B66C13/18 ,  B66C19/00

CPC classification number: B60W30/06 ,  B60W10/04 ,  B60W10/18 ,  B60W50/0098 ,  G01S7/4802 ,  G01S17/42 ,  G01S17/931 ,  G06F18/232 ,  G06T7/521 ,  G06V10/751 ,  G08G1/205 ,  B60W2050/006 ,  B60W2300/12 ,  B60W2420/408 ,  B60W2556/45 ,  B66C13/18 ,  B66C19/002 ,  G06T2207/10028 ,  G06V2201/08

Abstract: A method, a device, and a system for parking a truck accurately in a shore crane area are provided. A vehicle controller transmits a parking request for a truck to be parked. A main controller receives the parking request and acquires real-time point cloud data by scanning one or more lanes crossed by a shore crane using one or more LiDARs. The main controller clusters the real-time point cloud data to obtain a set of point clouds for the truck and applies an Iterative Closest Point algorithm to the set of point clouds and a vehicle point cloud model to obtain a real-time distance from the truck to a target parking space. The vehicle controller controls the truck to stop at the target parking space based on the real-time distance.

公开(公告)号：US11948370B2

公开(公告)日：2024-04-02

申请号：US17360743

申请日：2021-06-28

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yiming Li ,  Yuhe Jin ,  Jinpeng Cai ,  Nan Wu

IPC: G06V20/58 ,  B60W30/06 ,  G08G1/14

CPC classification number: G06V20/586 ,  B60W30/06 ,  G08G1/142 ,  G08G1/148 ,  G08G1/149 ,  B60W2420/52 ,  B60W2552/53

Abstract: The present disclosure provides a method, a device, and a system for parking a truck. The method includes a main controller acquiring real-time point cloud data by scanning a lane crossed by a shore crane using a laser radar; the main controller clustering the real-time point cloud data to obtain a set of point clouds for the truck moving in the lane; and the main controller obtaining a real-time distance from the moving truck to a target parking space based on the set of point clouds and a vehicle point cloud model; the main controller broadcasting a message containing the real-time distance, such that a vehicle controller controls the moving truck to stop at the target parking space based on the real-time distance contained in the message.