Bayerische Motoren Werke Aktiengesellschaft

Maximilian Doemling

Qianshan Li

Wanli Jiang

Tomas Xu

Sebastian Granzow

Bill Lv

Tao Xu

Jianpeng Li

Shuhan Lv

Hongshan Xu

Rick Li

Ivan Xu

Gavin Xu

Hai Jin

A method and an apparatus for correcting deformation of a digital map for a vehicle, includes loading a related part from the digital map; determining whether the related part includes road coordinate information in a first zone and road coordinate information in a second zone, wherein the road coordinate information in the first zone is associated with a first Cartesian coordinate system and the road coordinate information in the second zone is associated with a second Cartesian coordinate system; transforming the road coordinate information in the second zone to the first Cartesian coordinate system, if the related part includes the road coordinate information in the first zone and the road coordinate information in the second zone; and generating a corrected map by combining the road coordinate information in the first zone and the transformed road coordinate information in the second zone; wherein the first Cartesian coordinate system is the coordinate system of the vehicle for processing the road coordinate information.

Deformation correction of a digital map for a vehicle

A method for displaying lane information for a vehicle, includes obtaining a digital map; defining localization information of the vehicle; obtaining a route plan of the vehicle; determining a driving lane according to the localization information of the vehicle and the route plan of the vehicle; obtaining coordinates information of lane markings of the driving lane from the digital map; receiving image data from a camera mounted on the vehicle; transforming the lane markings of the driving lane from a coordinate system of the digital map to a coordinate system of the camera; generating a lane guide sign indicating the lane markings of the driving lane in the coordinate system of the camera based on the lane markings of the driving lane transformed to the coordinate system of the camera; and superimposing the lane guide sign of the lane markings of the driving lane on the image data received from the camera.

Method, device and system for displaying augmented reality navigation information

A method and a system for lane change prediction. The method includes collecting raw driving data, extracting a plurality of feature sets from the collected raw driving data, and obtaining corresponding lane change information. The lane change information indicates a status of lane change of a vehicle under each of the extracted feature sets. The method further includes automatically labeling each of the extracted plurality sets of features with the obtained corresponding lane change information. The method further includes training a lane change prediction model with the labeled plurality sets of features. Examples of the present disclosure further describe methods, systems, and vehicles for applying the lane change prediction model.

Vehicle lane change prediction

A method and an apparatus optimizes scan data obtained by sensors on vehicle, and corrects trajectory for a vehicle/robot based on the optimized scan data. The method for optimizing the scan data obtained by scanning environment elements, includes: step of obtaining the scan data, including obtaining at least two frames of scan data respectively corresponding to different timings; step of cluster processing, based on the characteristic of the data points, including classifying the plurality of data points in each frame of the scan data into one or more clusters; step of establishing correspondence, among the at least two frames of scan data, including searching and obtaining at least one set of clusters having correspondence; step of optimizing clusters, among the at least two frames of scan data, including conducting calculation to each set of the at least one set of clusters having correspondence, to obtain optimized clusters respectively corresponding to each set of the at least one set of clusters having correspondence; and step of optimizing the scan data, including accumulating all optimized clusters to obtain an optimized scan date for the at least two frames of scan data.

Method and apparatus for optimizing scan data and method and apparatus for correcting trajectory

A method for segmentation of a point cloud includes receiving a first frame of point cloud from a sensor; segmenting the first frame of point cloud to obtain a first set of point clusters representing a segmentation result for the first frame of point cloud; receiving a second frame of point cloud from the sensor; mapping the first set of point clusters to the second frame of point cloud; determining points within the second frame of point cloud which do not belong to the mapped first set of point clusters; segmenting the points within the second frame of point cloud which do not belong to the mapped first set of point clusters to obtain a second set of point clusters; and generating a segmentation result for the second frame of point cloud by combining the first set of point clusters and the second set of point clusters.

Incremental segmentation of point cloud

A method for determining driving strategy of a vehicle includes obtaining localization information of the vehicle, a driving route of the vehicle, and a current driving velocity of the vehicle. The method further includes detecting and interpreting a current status of a traffic light. The method further includes recognizing a duration of the current status of the traffic light. The method further includes detecting a relevant stop line. The method further includes obtaining a distance between the stop line and the vehicle. The method further includes determining whether to change the current driving velocity according to the current status of the traffic light, the duration of the current status of the traffic light, the distance between the traffic stop line and the vehicle, and the current driving velocity. A data processing device for determining driving strategy of a vehicle is also provided.

Method and apparatus for determining driving strategy of a vehicle

A method and apparatus for selecting a map from a plurality of maps having different resolutions for a moving object includes dynamically selecting an appropriate map from maps having different levels of details according to environment information, such that a minimum amount of required map is loaded, thereby effectively improving the data processing efficiency of vehicles.

Methods and apparatus for selecting a map for a moving object, system, and vehicle/robot

A computer-implemented method for representing environmental elements includes receiving scan data comprising at least a point cloud representing at least an environmental element from a sensor, segmenting the point cloud into point clusters, and partitioning the point clusters into hierarchical grids. The method also includes establishing a Gaussian distribution for points in each cell of each of the hierarchical grids, and constructing a Gaussian Mixture Model based on the Gaussian distribution for representing the environmental element.

Method and apparatus for representing environmental elements, system, and vehicle/robot

A method for configuring a sensor, which is adapted to be installed on a moving object, includes obtaining localization information of the sensor from a localization device, obtaining characteristic information and localization information of at least one element from a digital map, and choosing one or more elements of the at least one element in the digital map. The method also includes configuring the sensor according to the characteristic information and/or the localization information of the one or more chosen elements.

Method, device and system for configuration of a sensor on a moving object

A method and an apparatus for uncertainty modeling of a point cloud and a non-transient storage medium are provided. The method finds the neighboring points for each point; fits a local quadratic surface for each point; and generates a Gaussian Model (GM) for representing the uncertainty modeling of the local surface at each point. The GM is constructed in a piece-wise manner on the underlying surface of the point cloud, which will accurately model the surface uncertainty.

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Shanghai, China

Maximilian Doemling