# US 11,305,771 B2 · Method and apparatus for controlling cruise of vehicle, electronic device, and storage medium

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- Number: US 11,305,771 B2
- Document ID: US11305771B2
- Status: Granted
- Kind: B2
- Application number: 17/337,857
- Filed: 2021-06-03
- Published: 2021-09-23
- Granted: 2022-04-19
- Earliest claimed: 2020-06-29
- Assignees: Beijing Baidu Netcom Science Technology Co., Ltd.
- Applicants: Beijing Baidu Netcom Science and Technology Co., Ltd.
- Inventors: Lianchuan Zhang
- Web page: https://patentgrep.com/patent/US11305771B2

## CPC

- B60W 30/18072: {Coasting}
- G05D 1/0253: {extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow (determining position or orientation from images G06T7/70)}
- B60W 30/06: Automatic manoeuvring for parking
- B60W 30/14: {Adaptive} cruise control
- B60W 40/06: Road conditions
- B60W 60/001: {Planning or execution of driving tasks}
- B62D 15/0285: {Parking performed automatically}
- G01C 21/30: Map- or contour-matching
- G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera}
- G01C 21/3815: {Road data}
- G01C 21/3837: {Data obtained from a single source}
- G01C 21/3848: {Data obtained from both position sensors and additional sensors}
- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 7/74: {involving reference images or patches}
- G06T 17/05: Geographic models
- B60W 2050/0005: {Processor details or data handling, e.g. memory registers or chip architecture}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2520/10: Longitudinal speed
- B60W 2530/201: Dimensions of vehicle
- B60W 2552/30: Road curve radius
- B60W 2555/00: Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2556/00: Input parameters relating to data
- B60W 2556/10: Historical data
- B60Y 2300/14: Cruise control
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

The present application discloses a method for controlling cruise of a vehicle. The method includes: acquiring a pre-established three-dimensional trajectory map of the vehicle from a starting point to a destination; acquiring current positioning information of the vehicle; intercepting a target trajectory at a preset distance currently ahead of the vehicle from the three-dimensional trajectory map according to the current positioning information; acquiring a target point from the target trajectory according to the current positioning information; acquiring a wheelbase and a current speed of the vehicle, and calculating an angle that front wheels of the vehicle are required to rotate, according to the target point, the current positioning information, the wheelbase, and the current speed; controlling a movement of the vehicle according to the angle.

## Claims

### Claim 1

A method for controlling cruise of a vehicle, comprising:
acquiring a pre-established three-dimensional trajectory map of the vehicle from a starting point to a destination;
acquiring current positioning information of the vehicle;
intercepting a target trajectory at a preset distance currently ahead of the vehicle from the three-dimensional trajectory map according to the current positioning information, comprising: acquiring a point closest to the vehicle on the target trajectory according to the current positioning information;
acquiring a target point from the target trajectory according to the current positioning information, comprising: acquiring the target point based on the point closest to the vehicle;
acquiring a wheelbase and a current speed of the vehicle, and calculating an angle that front wheels of the vehicle are required to rotate, according to the target point, the current positioning information, the wheelbase, and the current speed;
controlling a movement of the vehicle according to the angle.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the three-dimensional trajectory map is constructed according to images of a road ahead of the vehicle in a demonstration phase of a user driving the vehicle to travel from the starting point to the destination, that are respectively collected based on a plurality of shooting angles of a camera on the vehicle in the process of the demonstration phase.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the constructing the three-dimensional trajectory map according to the images comprises:
acquiring, from the images, images of the same scene collected based on the multiple shooting angles;
superimposing the images of the same scene to acquire a three-dimensional image for the same scene; and
performing splicing processing on three-dimensional images of different scenes between the starting point and the destination to generate the three-dimensional trajectory map from the starting point to the destination for the vehicle.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the acquiring the current positioning information of the vehicle comprises:
collecting images of the road currently ahead of the vehicle respectively based on the plurality of shooting angles of the camera;
superimposing the collected images of the road currently ahead of the vehicle to acquire the three-dimensional image for the road currently ahead of the vehicle;
extracting environmental features of the three-dimensional image of the road currently ahead of the vehicle;
matching the environmental features of the three-dimensional image of the road currently ahead of the vehicle with the environmental features in the three-dimensional trajectory map; and
determining the current positioning information of the vehicle from the three-dimensional trajectory map based on the matched environmental features.

### Claim 5 (depends on 4)

The method according to claim 4, further comprising:
acquiring, in the positioning process, when the camera is in a non-collection period, mileage that the vehicle has driven in the current non-collection period of the camera;
acquiring real-time positioning information of the vehicle according to the mileage that the vehicle has driven in the current non-collection period of the camera, and the positioning information obtained based on the images of the road ahead of the vehicle collected in the previous collection period.

### Claim 6

An apparatus for controlling cruise of a vehicle, comprising:
one or more processors;
a memory storing instructions executable by the one or more processors;
wherein the one or more processors are configured to:
acquire a pre-established three-dimensional trajectory map of the vehicle from a starting point to a destination;
acquire current positioning information of the vehicle;
intercept a target trajectory at a preset distance currently ahead of the vehicle from the three-dimensional trajectory map according to the current positioning information by acquiring a point closest to the vehicle on the target trajectory according to the current positioning information;
acquire a target point from the target trajectory according to the current positioning information by acquiring the target point based on the point closest to the vehicle;
acquire a wheelbase and a current speed of the vehicle;
calculate an angle that front wheels of the vehicle are required to rotate, according to the target point, the current positioning information, the wheelbase, and the current speed, and to control a movement of the vehicle according to the angle.

### Claim 7 (depends on 6)

The apparatus according to claim 6, wherein the three-dimensional trajectory map is constructed according to images of a road ahead of the vehicle in a demonstration phase of a user driving the vehicle to travel from the starting point to the destination, that are respectively collected based on a plurality of shooting angles of a camera on the vehicle in the process of the demonstration phase.

### Claim 8 (depends on 7)

The apparatus according to claim 7, wherein the three-dimensional trajectory map is constructed according to the images by performing:
acquiring, from the images, images of the same scene collected based on the multiple shooting angles;
superimposing the images of the same scene to acquire a three-dimensional image for the same scene; and
performing splicing processing on three-dimensional images of different scenes between the starting point and the destination to generate the three-dimensional trajectory map from the starting point to the destination for the vehicle.

### Claim 9 (depends on 6)

The apparatus according to claim 6, wherein the one or more processors are configured to:
collect images of the road currently ahead of the vehicle respectively based on the plurality of shooting angles of the camera;
superimpose the collected images of the road currently ahead of the vehicle to acquire the three-dimensional image for the road currently ahead of the vehicle;
extract environmental features of the three-dimensional image of the road currently ahead of the vehicle;
match the environmental features of the three-dimensional image of the road currently ahead of the vehicle with the environmental features in the three-dimensional trajectory map; and
determine the current positioning information of the vehicle from the three-dimensional trajectory map based on the matched environmental features.

### Claim 10 (depends on 9)

The apparatus according to claim 9, wherein the one or more processors are configured to:
acquire, in the positioning process, when the camera is in a non-collection period, mileage that the vehicle has driven in the current non-collection period of the camera; and
acquire real-time positioning information of the vehicle according to the mileage that the vehicle has driven in the current non-collection period of the camera, and the positioning information obtained based on the images of the road ahead of the vehicle collected in the previous collection period.

### Claim 11

A non-transitory computer-readable storage medium having instructions stored thereon, wherein the instructions are implemented to execute a method for controlling cruise of a vehicle, and the method comprises:
acquiring a pre-established three-dimensional trajectory map of the vehicle from a starting point to a destination;
acquiring current positioning information of the vehicle;
intercepting a target trajectory at a preset distance currently ahead of the vehicle from the three-dimensional trajectory map according to the current positioning information, comprising: acquiring a point closest to the vehicle on the target trajectory according to the current positioning information;
acquiring a target point from the target trajectory according to the current positioning information, comprising: acquiring the target point based on the point closest to the vehicle;
acquiring a wheelbase and a current speed of the vehicle, and calculating an angle that front wheels of the vehicle are required to rotate, according to the target point, the current positioning information, the wheelbase, and the current speed;
controlling a movement of the vehicle according to the angle.