Granted Patent B2

US 12,559,090 · App. 18/181,399 · Granted Feb 24, 2026

Inventors: Tingjun Wen (Beijing, CN); Jie Yang (Beijing, CN); Siquan Chen (Beijing, CN)

Assignee: Beijing Tusen Zhitu Technology Co., Ltd.

B60W30/06B60W50/029B60W60/00186G06T7/246G06V20/588B60W2420/403B60W2520/10B60W2552/53B60W2556/40G06T2207/20076G06T2207/30241G06T2207/30256G06T2207/30264

Abstract

Claims (91)

1 . A control method for a vehicle, comprising:

determining, according to image information or map information, lane line information;

determining, according to the lane line information, a parking trajectory; and

controlling, according to the parking trajectory, the vehicle,

wherein the image information comprises a lane line parameter from an image, the map information comprises a lane line parameter from a map,

wherein the vehicle comprises an image acquisition apparatus, and the method further comprises:

in response to the map information being available, updating a state of the image acquisition apparatus based on the lane line parameter from the image and the lane line parameter from the map,

wherein the updating the state of the image acquisition apparatus based on the lane line parameter from the image and the lane line parameter from the map comprises:

determining a lane line deviation based on the lane line parameter from the image and the lane line parameter from the map;

determining probability parameters according to the lane line deviation; and

updating a count value according to a vehicle speed, the probability parameters, and corresponding probability thresholds, wherein

the count value is used for representing the state of the image acquisition apparatus; and

in response to the updated count value being not greater than a count threshold, determining that the state of the image acquisition apparatus is normal.

2 . The method according to claim 1 , wherein the determining lane line information according to image information or map information comprises:

in response to the map information being available, determining the lane line information according to the map information; and

in response to the map information being not available and the image information being available, determining the lane line information according to the image information.

3 . The method according to claim 2 , wherein the method further comprises:

in response to the state of the image acquisition apparatus being normal, determining that the image information is available.

4 . The method according to claim 1 , wherein the probability parameters comprise a first probability parameter, a second probability parameter, and a third probability parameter, wherein the first probability parameter is a probability parameter of a left lane line, the second probability parameter is a probability parameter of a right lane line, and the third probability parameter is a probability parameter of a middle lane line; the image information further comprises a self-diagnostic signal comprising state information of the lane line parameter from the image;

the updating the count value according to the vehicle speed, the probability parameters and a corresponding probability threshold comprises:

in response to the vehicle speed exceeding a speed threshold and the third probability parameter being less than a first probability threshold, increasing the count value by a preset step length; or

in response to the vehicle speed exceeding the speed threshold and the third probability parameter being not less than the first probability threshold, updating the count value according to the lane line parameter from the image, the self-diagnostic signal, the first probability parameter and the second probability parameter.

5 . The method according to claim 4 , wherein the updating the count value according to the lane line parameter from the image, the self-diagnostic signal, the first probability parameter and the second probability parameter comprises:

in response to the lane line parameter from the image and the self-diagnostic signal meeting a first preset condition, decreasing the count value by the preset step length;

in response to the lane line parameter from the image and the self-diagnostic signal meeting the first preset condition and the first probability parameter being not less than a second probability threshold, decreasing the count value by the preset step length; or

in response to the lane line parameter from the image and the self-diagnostic signal meeting the first preset condition and the second probability parameter being not less than a third probability threshold, decreasing the count value by the preset step length.

6 . The method according to claim 1 , wherein the lane line information comprises the lane line parameter from the image and a self-diagnostic signal, the self-diagnostic signal comprising state information of the lane line parameter from the image, and the determining the parking trajectory according to the lane line information comprises:

in response to the lane line parameter from the image and the self-diagnostic signal meeting a first or second preset condition, determining a first or second lane line as the parking trajectory according to the lane line parameter from the image; or

in response to the lane line parameter from the image and the self-diagnostic signal meeting a third preset condition, generating a third lane line as the parking trajectory according to a first preset rule.

7 . The method according to claim 1 , wherein the lane line information comprises the lane line parameter from the map, and the determining the parking trajectory according to the lane line information comprises:

determining, according to the lane line parameter from the map, a lane line as the parking trajectory.

8 . The method according to claim 1 , wherein the controlling the vehicle according to the parking trajectory comprises:

determining, according to the parking trajectory, a lateral error and a heading error;

compensating the heading error according to vehicle traveling information; and

determining, according to the compensated heading error and the lateral error, a control instruction so as to control the vehicle.

9 . A vehicle, comprising:

an image acquisition apparatus, configured for acquiring image information;

at least one processor; and

a memory in communicative connection with the at least one processor; wherein

the memory stores a computer program executable by the at least one processor, and the computer program, when executed by the at least one processor, enables the at least one processor to implement a control method comprising:

determining, according to the image information or map information, lane line information;

determining, according to the lane line information, a parking trajectory; and

controlling, according to the parking trajectory, the vehicle,

wherein the image information comprises a lane line parameter from an image, the map information comprises a lane line parameter from a map, and the computer program, when executed by the at least one processor, enables the at least one processor to further implement the control method comprising:

in response to the map information being available, updating a state of the image acquisition apparatus based on the lane line parameter from the image and the lane line parameter from the map,

wherein the computer program, when executed by the at least one processor, enables the at least one processor to further implement the control method comprising:

determining a lane line deviation based on the lane line parameter from the image and the lane line parameter from the map;

determining probability parameters according to the lane line deviation;

updating a count value according to a vehicle speed, the probability parameters and corresponding probability thresholds, wherein

the count value is used for representing the state of the image acquisition apparatus; and

in response to the updated count value being not greater than a count threshold, determining that the state of the image acquisition apparatus is normal.

10 . The vehicle according to claim 9 , wherein the computer program, when executed by the at least one processor, enables the at least one processor to further implement the control method comprising:

in response to the map information being available, determining the lane line information according to the map information; and

in response to the map information being not available and the image information being available, determining the lane line information according to the image information;

wherein in response to the state of the image acquisition apparatus being normal, determining that the image information is available.

11 . The vehicle according to claim 9 , wherein the probability parameters comprise a first probability parameter, a second probability parameter and a third probability parameter, wherein the first probability parameter is a probability parameter of a left lane line, the second probability parameter is a probability parameter of a right lane line, and the third probability parameter is a probability parameter of a middle lane line; the image information further comprises a self-diagnostic signal comprising state information of the lane line parameter from the image;

and the computer program, when executed by the at least one processor, enables the at least one processor to further implement the control method comprising:

in response to the vehicle speed exceeding a speed threshold and the third probability parameter being less than a first probability threshold, increasing the count value by a preset step length; or

in response to the vehicle speed exceeding the speed threshold and the third probability parameter being not less than the first probability threshold, updating the count value according to the lane line parameter from the image, the self-diagnostic signal, the first probability parameter and the second probability parameter.

12 . The vehicle according to claim 11 , wherein the computer program, when executed by the at least one processor, enables the at least one processor to further implement the control method comprising:

in response to the lane line parameter from the image and the self-diagnostic signal meeting a first preset condition, decreasing the count value by the preset step length;

in response to the lane line parameter from the image and the self-diagnostic signal meeting the first preset condition and the first probability parameter being not less than a second probability threshold, decreasing the count value by the preset step length; or

in response to the lane line parameter from the image and the self-diagnostic signal meeting the first preset condition and the second probability parameter being not less than a third probability threshold, decreasing the count value by the preset step length.

13 . The vehicle according to claim 9 , wherein the lane line information comprises the lane line parameter from the image and a self-diagnostic signal, the self-diagnostic signal comprising state information of the lane line parameter from the image, and

wherein the computer program, when executed by the at least one processor, enables the at least one processor to further implement the control method comprising:

in response to the lane line parameter from the image and the self-diagnostic signal meeting a first or second preset condition, determining a first or second lane line as the parking trajectory according to the lane line parameter from the image; or

in response to the lane line parameter from the image and the self-diagnostic signal meeting a third preset condition, generating a third lane line as the parking trajectory according to a first preset rule.

14 . A non-transitory computer-readable storage medium having a computer instruction stored thereon, wherein the computer instruction, when executed by a processor, causes the processor to implement a control method comprising:

determining, according to image information or map information, lane line information;

determining, according to the lane line information, a parking trajectory; and

controlling, according to the parking trajectory, a vehicle,

wherein the image information comprises a lane line parameter from an image, the map information comprises a lane line parameter from a map, the vehicle comprises an image acquisition apparatus, and the computer instruction, when executed by the processor, causes the processor to further implement the control method comprising:

in response to the map information being available, updating a state of the image acquisition apparatus based on the lane line parameter from the image and the lane line parameter from the map,

wherein the computer instruction, when executed by the processor, causes the processor to further implement the control method comprising:

determining a lane line deviation based on the lane line parameter from the image and the lane line parameter from the map;

determining probability parameters according to the lane line deviation;

updating a count value according to a vehicle speed, the probability parameters and corresponding probability thresholds, wherein

the count value is used for representing the state of an image acquisition apparatus; and

in response to the updated count value being not greater than a count threshold, determining that the state of the image acquisition apparatus is normal.

15 . The non-transitory computer-readable storage medium according to claim 14 , wherein the computer instruction, when executed by the processor, causes the processor to further implement the control method comprising:

in response to the map information being available, determining the lane line information according to the map information; and

in response to the map information being not available and the image information being available, determining the lane line information according to the image information;

wherein in response to the state of the image acquisition apparatus being normal, determining that the image information is available.

16 . The non-transitory computer-readable storage medium according to claim 14 , wherein the probability parameters comprise a first probability parameter, a second probability parameter and a third probability parameter, wherein the first probability parameter is a probability parameter of a left lane line, the second probability parameter is a probability parameter of a right lane line, and the third probability parameter is a probability parameter of a middle lane line; the image information further comprises a self-diagnostic signal comprising state information of the lane line parameter from the image;

and the computer instruction, when executed by the processor, causes the processor to further implement the control method comprising:

in response to the vehicle speed exceeding a speed threshold and the third probability parameter being less than a first probability threshold, increasing the count value by a preset step length; or

in response to the vehicle speed exceeding the speed threshold and the third probability parameter being not less than the first probability threshold, updating the count value according to the lane line parameter from the image, the self-diagnostic signal, the first probability parameter and the second probability parameter.

17 . The non-transitory computer-readable storage medium according to claim 16 , wherein the computer instruction, when executed by the processor, causes the processor to further implement the control method comprising:

in response to the lane line parameter from the image and the self-diagnostic signal meeting a first preset condition, decreasing the count value by the preset step length;

in response to the lane line parameter from the image and the self-diagnostic signal meeting the first preset condition and the first probability parameter being not less than a second probability threshold, decreasing the count value by the preset step length; or

in response to the lane line parameter from the image and the self-diagnostic signal meeting the first preset condition and the second probability parameter being not less than a third probability threshold, decreasing the count value by the preset step length.

Assignments (4)

Continuity (1)

References Cited (18)