# US 2024/0199017 A1 · Method for controlling vehicles, electronic device, and storage medium

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- Number: US 2024/0199017 A1
- Document ID: US20240199017A1
- Status: Published application
- Kind: A1
- Application number: 18/125,679
- Filed: 2023-03-23
- Published: 2024-06-20
- Earliest claimed: 2022-12-16
- Assignees: Hon Hai Precision Industry Co., Ltd.
- Applicants: Hon Hai Precision Industry Co., Ltd.
- Inventors: CHIEH LEE; CHIN-PIN KUO
- Web page: https://patentgrep.com/patent/US20240199017A1

## CPC

- B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- G08G 1/017: identifying vehicles (G08G1/015, G08G1/054 take precedence)
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/06: Direction of travel
- B60W 2554/404: Characteristics
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2556/45: External transmission of data to or from the 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
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A method for controlling vehicles, an electronic device and a storage medium are provided. In the method, a license plate image of a target vehicle in front of a vehicle to be controlled and point cloud data of the target vehicle through a radar are acquired. The license plate image is identified to obtain initial vehicle data of the target vehicle. Target vehicle data of the target vehicle is calculated based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data. In response that the target vehicle data meets preset conditions, the vehicle data of the vehicle to be controlled is adjusted according to the target vehicle data. The method can improve an accuracy of vehicle detection and a driving safety.

## Claims

### Claim 1

A method for controlling vehicles, the method comprising:
acquiring a license plate image of a target vehicle in front of a vehicle to be controlled, and acquiring point cloud data of the target vehicle through a radar;
identifying the license plate image and obtaining initial vehicle data of the target vehicle;
calculating target vehicle data of the target vehicle based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data;
in response that the target vehicle data meets preset conditions, adjusting the vehicle data of the vehicle to be controlled according to the target vehicle data.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the initial vehicle data comprises a first relative distance between the target vehicle and the vehicle to be controlled and a speed of the target vehicle, wherein identifying the license plate image and obtaining initial vehicle data of the target vehicle comprises:
identifying the license plate image and determining a vehicle type of the target vehicle;
acquiring a first size of the license plate of the target vehicle according to the vehicle type;
processing the license plate image and obtaining a processed image;
calculating the first relative distance according to a focal length of a photographing device that captures the license plate image, the first size of the license plate of the target vehicle and the processed image;
calculating the speed of the target vehicle according to any two adjacent first relative distances and two shooting times of the license plate images corresponding to the any two adjacent first relative distances.

### Claim 3 (depends on 2)

The method according to claim 2, wherein calculating the first relative distance according to a focal length of a photographing device that captures the license plate image, the first size of the license plate of the target vehicle and the processed image comprises:
calculating a second size of the license plate of the processed image;
calculating a first product of the focal length and the first size;
determining a ratio of the first product to the second size as the first relative distance.

### Claim 4 (depends on 2)

The method according to claim 2, wherein calculating target vehicle data of the target vehicle based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data comprises:
calculating relative vehicle data according to the point cloud data and the vehicle data of the vehicle to be controlled;
comparing the relative vehicle data with the preset ranges, and obtaining a comparison result;
selecting a point cloud data weighting corresponding to the point cloud data from preset weightings according to the comparison result;
calculating an initial data weighting corresponding to the initial vehicle data according to the point cloud data weighting and a preset value;
obtaining the target vehicle data by calculating the relative vehicle data and the initial vehicle data, according to the point cloud data weighting and the initial data weighting.

### Claim 5 (depends on 4)

The method according to claim 4, wherein the relative vehicle data comprises a speed of the vehicle to be controlled and a second relative distance, wherein calculating relative vehicle data according to the point cloud data and the vehicle data of the vehicle to be controlled comprises:
acquiring a first position of the target vehicle from the point cloud data;
acquiring a second position of the vehicle to be controlled from the vehicle data of the vehicle to be controlled;
calculating the second relative distance according to the first position and the second position;
calculating the speed of the vehicle to be controlled according to any two adjacent second relative distances and two radar scanning times corresponding to the any two adjacent second relative distances.

### Claim 6 (depends on 5)

The method according to claim 5, wherein the preset ranges comprises a preset distance range and a preset speed range, wherein selecting a point cloud data weighting corresponding to the point cloud data from preset weightings according to the comparison result comprises:
in response that the comparison result indicates that the second relative distance is within the preset distance range and the speed of the vehicle to be controlled is within the preset speed range, determining that the point cloud data weighting being a preset first weighting;
in response that the comparison result indicates that the second relative distance is within the preset distance range and the speed of the vehicle to be controlled is not within the preset speed range, determining that the point cloud data weighting being a preset second weighting;
in response that the comparison result indicates that the second relative distance is not within the preset distance range and the speed of the vehicle to be controlled is within the preset speed range, determining that the point cloud data weighting being a preset third weighting;
in response that the comparison result indicates that the second relative distance is not within the preset distance range and the speed of the vehicle to be controlled is not within the preset speed range, determining the point cloud data weighting being a preset fourth weighting.

### Claim 7 (depends on 4)

The method according to claim 4, wherein obtaining the target vehicle data by calculating the relative vehicle data and the initial vehicle data, according to the point cloud data weighting and the initial data weighting comprises:
obtaining a plurality of second products by calculating a product of the point cloud data weighting and each data in the relative vehicle data;
obtaining a plurality of third products by calculating a product of the initial data weighting and each data in the initial vehicle data;
calculating a sum of each second product and the corresponding third product to obtain the target vehicle data.

### Claim 8 (depends on 7)

The method according to claim 7, wherein the target vehicle data comprises a target distance and a target speed, wherein in response that the target vehicle data meets preset conditions, adjusting the vehicle data of the vehicle to be controlled according to the target vehicle data comprises:
comparing the target distance with a preset safe distance, and comparing the target speed with the speed of the vehicle to be controlled;
in response that the target distance is less than the preset safe distance and/or the target speed is less than the speed of the vehicle to be controlled, adjusting the speed of the vehicle to be controlled and an acceleration of the vehicle to be controlled until the target distance is greater than or equal to the preset safe distance.

### Claim 9

An electronic device, comprising:
a storage device and at least one processor, the storage device stores at least one computer-readable instruction, which when executed by the processor causes the at least one processor to:
acquire a license plate image of a target vehicle in front of a vehicle to be controlled, and acquire point cloud data of the target vehicle through a radar;
identify the license plate image and obtain initial vehicle data of the target vehicle;
calculate target vehicle data of the target vehicle based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data;
in response that the target vehicle data meets preset conditions, adjust the vehicle data of the vehicle to be controlled according to the target vehicle data.

### Claim 10 (depends on 9)

The electronic device according to claim 9, wherein the initial vehicle data comprises a first relative distance between the target vehicle and the vehicle to be controlled and a speed of the target vehicle, wherein the at least one processor identifies the license plate image and obtain initial vehicle data of the target vehicle by:
identifying the license plate image and determining a vehicle type of the target vehicle;
acquiring a first size of the license plate of the target vehicle according to the vehicle type;
processing the license plate image and obtaining a processed image;
calculating the first relative distance according to a focal length of a photographing device that captures the license plate image, the first size of the license plate of the target vehicle and the processed image;
calculating the speed of the target vehicle according to any two adjacent first relative distances and two shooting times of the license plate images corresponding to the any two adjacent first relative distances.

### Claim 11 (depends on 10)

The electronic device according to claim 10, wherein the at least one processor calculates the first relative distance according to a focal length of a photographing device that captures the license plate image, the first size of the license plate of the target vehicle and the processed image by:
calculating a second size of the license plate of the processed image;
calculating a first product of the focal length and the first size;
determining a ratio of the first product to the second size as the first relative distance.

### Claim 12 (depends on 10)

The electronic device according to claim 10, wherein the at least one processor calculates target vehicle data of the target vehicle based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data by:
calculating relative vehicle data according to the point cloud data and the vehicle data of the vehicle to be controlled;
comparing the relative vehicle data with the preset ranges, and obtaining a comparison result;
selecting a point cloud data weighting corresponding to the point cloud data from preset weightings according to the comparison result;
calculating an initial data weighting corresponding to the initial vehicle data according to the point cloud data weighting and a preset value;
obtaining the target vehicle data by calculating the relative vehicle data and the initial vehicle data, according to the point cloud data weighting and the initial data weighting.

### Claim 13 (depends on 12)

The electronic device according to claim 12, wherein the relative vehicle data comprises a speed of the vehicle to be controlled and a second relative distance, wherein the at least one processor calculates relative vehicle data according to the point cloud data and the vehicle data of the vehicle to be controlled by:
acquiring a first position of the target vehicle from the point cloud data;
acquiring a second position of the vehicle to be controlled from the vehicle data of the vehicle to be controlled;
calculating the second relative distance according to the first position and the second position;
calculating the speed of the vehicle to be controlled according to any two adjacent second relative distances and two radar scanning times corresponding to the any two adjacent second relative distances.

### Claim 14 (depends on 13)

The electronic device according to claim 13, wherein the preset ranges comprises a preset distance range and a preset speed range, wherein the at least one processor selects a point cloud data weighting corresponding to the point cloud data from preset weightings according to the comparison result by:
in response that the comparison result indicates that the second relative distance is within the preset distance range and the speed of the vehicle to be controlled is within the preset speed range, determining that the point cloud data weighting being a preset first weighting;
in response that the comparison result indicates that the second relative distance is within the preset distance range and the speed of the vehicle to be controlled is not within the preset speed range, determining that the point cloud data weighting being a preset second weighting;
in response that the comparison result indicates that the second relative distance is not within the preset distance range and the speed of the vehicle to be controlled is within the preset speed range, determining that the point cloud data weighting being a preset third weighting;
in response that the comparison result indicates that the second relative distance is not within the preset distance range and the speed of the vehicle to be controlled is not within the preset speed range, determining the point cloud data weighting being a preset fourth weighting.

### Claim 15 (depends on 12)

The electronic device according to claim 12, wherein the at least one processor obtains the target vehicle data by calculating the relative vehicle data and the initial vehicle data, according to the point cloud data weighting and the initial data weighting by:
obtaining a plurality of second products by calculating a product of the point cloud data weighting and each data in the relative vehicle data;
obtaining a plurality of third products by calculating a product of the initial data weighting and each data in the initial vehicle data;
calculating a sum of each second product and the corresponding third product to obtain the target vehicle data.

### Claim 16 (depends on 15)

The electronic device according to claim 15, wherein the target vehicle data comprises a target distance and a target speed, wherein the at least one processor in response that the target vehicle data meets preset conditions, adjusting the vehicle data of the vehicle to be controlled according to the target vehicle data by:
comparing the target distance with a preset safe distance, and comparing the target speed with the speed of the vehicle to be controlled;
in response that the target distance is less than the preset safe distance and/or the target speed is less than the speed of the vehicle to be controlled, adjusting the speed of the vehicle to be controlled and an acceleration of the vehicle to be controlled until the target distance is greater than or equal to the preset safe distance.

### Claim 17

A non-transitory storage medium having stored thereon at least one computer-readable instructions that, when the at least one computer-readable instructions are executed by a processor of an electronic device to implement a method for controlling vehicles, the method comprising:
acquiring a license plate image of a target vehicle in front of a vehicle to be controlled, and acquiring point cloud data of the target vehicle through a radar;
identifying the license plate image and obtaining initial vehicle data of the target vehicle;
calculating target vehicle data of the target vehicle based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data;
in response that the target vehicle data meets preset conditions, adjusting the vehicle data of the vehicle to be controlled according to the target vehicle data.

### Claim 18 (depends on 17)

The non-transitory storage medium according to claim 17, wherein the initial vehicle data comprises a first relative distance between the target vehicle and the vehicle to be controlled and a speed of the target vehicle, wherein identifying the license plate image and obtaining initial vehicle data of the target vehicle comprises:
identifying the license plate image and determining a vehicle type of the target vehicle;
acquiring a first size of the license plate of the target vehicle according to the vehicle type;
processing the license plate image and obtaining a processed image;
calculating the first relative distance according to a focal length of a photographing device that captures the license plate image, the first size of the license plate of the target vehicle and the processed image;
calculating the speed of the target vehicle according to any two adjacent first relative distances and two shooting times of the license plate images corresponding to the any two adjacent first relative distances.

### Claim 19 (depends on 18)

The non-transitory storage medium according to claim 18, wherein calculating the first relative distance according to a focal length of a photographing device that captures the license plate image, the first size of the license plate of the target vehicle and the processed image comprises:
calculating a second size of the license plate of the processed image;
calculating a first product of the focal length and the first size;
determining a ratio of the first product to the second size as the first relative distance.

### Claim 20 (depends on 18)

The non-transitory storage medium according to claim 18, wherein calculating target vehicle data of the target vehicle based on preset ranges, vehicle data of the vehicle to be controlled, the point cloud data and the initial vehicle data comprises:
calculating relative vehicle data according to the point cloud data and the vehicle data of the vehicle to be controlled;
comparing the relative vehicle data with the preset ranges and obtaining a comparison result;
selecting a point cloud data weighting corresponding to the point cloud data from preset weightings according to the comparison result;
calculating an initial data weighting corresponding to the initial vehicle data according to the point cloud data weighting and a preset value;
obtaining the target vehicle data by calculating the relative vehicle data and the initial vehicle data, according to the point cloud data weighting and the initial data weighting.