Patents by Inventor Dongchun REN
Dongchun REN has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20230100814Abstract: This specification discloses an obstacle trajectory prediction method and apparatus. In embodiments of the present disclosure, a global interaction feature under joint action of a vehicle and obstacles is determined according to historical status information and current status information of the vehicle, historical status information and current status information of the obstacles, and a future motion trajectory planned by the vehicle; an individual interaction feature of a to-be-predicted obstacle is determined according to the global interaction feature and current status information of the to-be-predicted obstacle; and a future motion trajectory of the to-be-predicted obstacle is predicted through the individual interaction feature and information about an environment around the vehicle.Type: ApplicationFiled: March 23, 2021Publication date: March 30, 2023Inventors: Dongchun REN, Mingyu FAN, Huaxia XIA, Yanliang ZHU, Deheng QIAN, Xin LI
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Publication number: 20230033069Abstract: An unmanned device acquires sensing data of surrounding obstacles; determines, for each obstacle, at least one predicted track of the obstacle in a future period of time based on the sensing data; determines, for each moment in the future period of time and according to the predicted track corresponding to the obstacle, a collision probability that a collision with the obstacle occurs at each position in a target region at the moment; and determines a global collision probability that the collision with the obstacle occurs in the entire target region at the moment. According to the global collision probability corresponding to each obstacle at each moment, the unmanned device controls the unmanned device in the future period of time.Type: ApplicationFiled: March 18, 2022Publication date: February 2, 2023Inventors: Mingyu FAN, Shuwang XU, Dongchun REN, Yanliang ZHU, Deheng QIAN, Huaxia XIA
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Publication number: 20220357747Abstract: A method for trajectory planning, an apparatus, a storage medium, and an electronic device are provided. A constraint set of a space including a target device is determined according to a velocity of an unmanned device and velocities of designated obstacles, so that during optimization of a preliminary reference trajectory, a solution can be obtained with the space in the constraint set as a solution space under the constraint of the constraint set, so as to ensure that the solution space is a convex space, and relatively satisfactory reference trajectory points can be solved.Type: ApplicationFiled: February 9, 2022Publication date: November 10, 2022Inventors: Huaxia XIA, Guosheng CHEN, Run TIAN, Xuetao XING, Zhichao WANG, Hongshuai CHEN, Yangyu ZHANG, Shitao YAN, Dongchun REN, Mingyu FAN
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Publication number: 20220340170Abstract: Embodiments provide extracting information respectively corresponding to predetermined dimensions from environment information corresponding to an unmanned driving environment. In some embodiments, the information respectively corresponding to the dimensions is input into an identification model to obtain a driving feature. Then a risk value representing a driving risk degree of an unmanned device is determined, and a maximum variation of the information corresponding to at least one dimension is determined when a variation of the driving feature is less than a predetermined threshold. A maximum variation of the information corresponding to each dimension is used as a risk contribution feature. A variation representative value of the information corresponding to each dimension is determined from the risk contribution feature. According to the variation representative values of the dimensions, a driving risk factor corresponding to the risk value is determined based on the driving feature.Type: ApplicationFiled: February 17, 2022Publication date: October 27, 2022Inventors: Huaxia XIA, Qi WANG, Mingyu FAN, Dongchun REN, Kebin YUAN, Shuguang DING
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Publication number: 20220340174Abstract: A method and apparatus for controlling an unmanned driving device are provided. An unmanned driving device obtains a travel trajectory of the unmanned driving device as a first trajectory, obtains a travel trajectory of a target object around as a second trajectory, and determines a spatial relation between the unmanned driving device and the target object according to the first trajectory and the second trajectory. Subsequently, the unmanned driving device can code the spatial relation according to a preset coding manner to obtain spatial coding information, where each code in the spatial coding information is configured to represent a spatial relation between the unmanned driving device and the target object at a moment corresponding to the code.Type: ApplicationFiled: February 17, 2022Publication date: October 27, 2022Inventors: Huaxia XIA, Xiao LI, Yuqin CHEN, Dongchun REN, Mingyu FAN, Bo WANG
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Publication number: 20220334579Abstract: A method and apparatus for controlling an unmanned device, a storage medium, and an electronic device are provided. In some embodiments, not only a control policy is determined according to a single frame of a current image, but a safety representation value of an unmanned device at a current moment and safety representation values of the unmanned device at respective historical moments are respectively determined according to a current image and environment images of several historical moments. In those embodiments, a control policy of the unmanned device at a next moment is determined according to a safety representation value of the unmanned device at current moment and the safety representation values of the unmanned device at respective historical moments.Type: ApplicationFiled: February 8, 2022Publication date: October 20, 2022Inventors: Jie MA, Yu BAI, Tao ZHANG, Qingshan JIA, Shiqi LIAN, Mingyu FAN, Dongchun REN, Huaxia XIA
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Publication number: 20220324483Abstract: A trajectory prediction method and apparatus, a storage medium, and an electronic device are provided. In embodiments of this disclosure, according to a historical trajectory of a designated target and a historical trajectory of each obstacle, a historical interaction feature between the designated target and each obstacle is determined, and a motion trajectory of the designated target is predicted to obtain an initial predicted trajectory. A future interaction feature between each obstacle and the designated target is then determined according to the initial predicted trajectory and a planned trajectory of each obstacle. According to the future interaction feature, a final predicted trajectory of the designated target is obtained.Type: ApplicationFiled: February 17, 2022Publication date: October 13, 2022Inventors: Huaxia XIA, Xu DU, Yinian MAO, Mingyu FAN, Dongchun REN, Deheng QIAN
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Patent number: 11380134Abstract: The disclosure discloses a method and device for determining parameter for a gaze tracking device. The method includes that: an image to be detected and a characteristic matrix of the image to be detected are acquired; the image to be detected is processed according to a preset model to obtain a first vector and second vector of the image to be detected; and a parameter of the image to be detected is determined according to the first vector and the second vector, the parameter of the image to be detected including at least one of: a position of a glint in the image to be detected and a gaze direction of eyes in the image to be detected.Type: GrantFiled: December 7, 2018Date of Patent: July 5, 2022Assignee: BEIJING 7INVENSUN TECHNOLOGY CO., LTD.Inventors: Wei Liu, Jian Wang, Dongchun Ren, Fengmei Nie, Xiaohu Gong
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Publication number: 20220176977Abstract: Vehicle control is provided, including: obtaining vehicle information of a target vehicle and environmental information of a reference environment in which the target vehicle is located; obtaining a target matrix based on the vehicle information and the environmental information; splitting the target matrix to obtain a plurality of sub-matrices; and obtaining target driving control information of the target vehicle based on matrix elements in the sub-matrices and driving control information of a surrounding vehicle of the target vehicle.Type: ApplicationFiled: February 22, 2022Publication date: June 9, 2022Inventors: Shuguang DING, Xiaoyang GUO, Dongchun REN, Sheng FU, Deheng QIAN
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Publication number: 20220051058Abstract: This application provides a method and apparatus for unmanned driving behavior decision-making and model training, and an electronic device. The method includes: acquiring sample data, wherein the sample data includes a sample image; extracting a sample feature vector corresponding to the sample data, wherein a feature vector of the sample image is extracted by manifold dimension reduction; and based on the sample feature vector, training by semi-supervised learning to obtain a target decision-making model, wherein the target decision-making model is used for decision-making classification.Type: ApplicationFiled: September 4, 2019Publication date: February 17, 2022Inventors: Shuguang DING, Qin HAN, Dongchun REN, Sheng FU, Deheng QIAN
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Patent number: 11250588Abstract: The present disclosure discloses a method and apparatus for filtering glints. The method includes that: a first image and a reference image matched with the first image are acquired, and first-type glints are displayed in the first image; second-type glints in the first image are determined according to the reference image, and the second-type glints are glints obtained by estimating glints in the first image on the basis of the reference image; a matching result of the first-type glints and the second-type glints is determined according to first positions of the first-type glints and second positions of the second-type glints; and the first-type glints are filtered according to the matching result.Type: GrantFiled: December 7, 2018Date of Patent: February 15, 2022Assignee: BEIJING 7INVENSUN TECHNOLOGY CO., LTD.Inventors: Wei Liu, Dongchun Ren, Xiaohu Gong, Meng Yang, Fengmei Nie
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Publication number: 20210390667Abstract: Embodiments of the present disclosure provide a model generation method, including: constructing a training sample set including a sample image, where feature information of the sample image is line information and optical flow information; and learning the training sample set to generate a recognition model that uses line information and optical flow information of an image as input.Type: ApplicationFiled: September 27, 2019Publication date: December 16, 2021Inventors: Deheng QIAN, Dongchun REN, Shuguang DING, Sheng FU
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Publication number: 20210287396Abstract: The present disclosure discloses a method and apparatus for filtering glints. The method includes that: a first image and a reference image matched with the first image are acquired, and first-type glints are displayed in the first image; second-type glints in the first image are determined according to the reference image, and the second-type glints are glints obtained by estimating glints in the first image on the basis of the reference image; a matching result of the first-type glints and the second-type glints is determined according to first positions of the first-type glints and second positions of the second-type glints; and the first-type glints are filtered according to the matching result.Type: ApplicationFiled: December 7, 2018Publication date: September 16, 2021Inventors: Wei LIU, Dongchun REN, Xiaohu GONG, Meng YANG, Fengmei NIE
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Publication number: 20210213961Abstract: Various embodiments provide a driving scene understanding method and apparatus, and a track planning method and apparatus. In various embodiments, a stress driving behavior of a human driver is identified; a class of the identified stress driving behavior is determined; at least one target is determined according to the identified stress driving behavior, the class of the stress driving behavior and driving scene information corresponding to the stress driving behavior. In those embodiments, where the driving scene information includes at least one of the following: a reference track, an actual traveling track, static obstacle information, dynamic obstacle information, and road information. Driving scene understanding can be performed according to the determined at least one target.Type: ApplicationFiled: November 18, 2020Publication date: July 15, 2021Inventors: Shuguang DING, Yuexiang JIN, Mingyu FAN, Dongchun REN
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Patent number: 11003243Abstract: The disclosure discloses a calibration method and device, a storage medium and a processor. The method includes that: a calibration point is controlled to move on a predetermined motion track; a gaze track of a target object is acquired in a movement process of the calibration point; and a specified parameter is calibrated according to the predetermined motion track and the gaze track, the specified parameter is configured to predict a gaze point of the target object.Type: GrantFiled: October 31, 2018Date of Patent: May 11, 2021Assignee: BEIJING 7INVENSUN TECHNOLOGY CO., LTD.Inventors: Dongchun Ren, Wei Liu, Zhijiang Lou, Xiaohu Gong, Jian Wang, Fengmei Nie, Meng Yang
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Patent number: 10949991Abstract: Disclosed is a method and apparatus for determining a position of a pupil. The method includes: acquiring an image to be detected including a pupil; acquiring a binary image of a preset area based on a preset model of semi-supervised learning, where the preset area is an area where the pupil is located in the image to be detected; acquiring a centroid of the binary image; and determining a central position of the pupil according to the centroid of the binary image.Type: GrantFiled: December 7, 2018Date of Patent: March 16, 2021Assignee: Beijing 7Invensun Technology Co., Ltd.Inventors: Fengmei Nie, Wei Liu, Dongchun Ren, Jian Wang, Meng Yang, Xiaohu Gong
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Patent number: 10853967Abstract: The present disclosure discloses a method and apparatus for determining a pupil position. The method includes that: at least one first parameter of a pupil in an image, an initial edge region of the pupil and at least one second parameter of at least one light spot in the image are acquired; the initial edge region is corrected according to the at least one first parameter and the at least one second parameter to obtain a first edge region; a pupil edge region is determined according to an edge section in the first edge region, and the edge section is a region formed by a point set meeting a first preset condition in the first edge region; and fitting processing is performed on the pupil edge region to obtain a position of the pupil.Type: GrantFiled: December 12, 2018Date of Patent: December 1, 2020Assignee: BEIJING 7INVENSUN TECHNOLOGY CO., LTD.Inventors: Wei Liu, Dongchun Ren, Jian Wang, Fengmei Nie, Meng Yang
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Publication number: 20200320735Abstract: The present disclosure discloses a method and apparatus for determining a pupil position. The method includes that: at least one first parameter of a pupil in an image, an initial edge region of the pupil and at least one second parameter of at least one light spot in the image are acquired; the initial edge region is corrected according to the at least one first parameter and the at least one second parameter to obtain a first edge region; a pupil edge region is determined according to an edge section in the first edge region, and the edge section is a region formed by a point set meeting a first preset condition in the first edge region; and fitting processing is performed on the pupil edge region to obtain a position of the pupil.Type: ApplicationFiled: December 12, 2018Publication date: October 8, 2020Inventors: Wei LIU, Dongchun REN, Jian WANG, Fengmei NIE, Meng YANG
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Publication number: 20200273198Abstract: Disclosed is a method and apparatus for determining a position of a pupil. The method includes: acquiring an image to be detected including a pupil; acquiring a binary image of a preset area based on a preset model of semi-supervised learning, where the preset area is an area where the pupil is located in the image to be detected; acquiring a centroid of the binary image; and determining a central position of the pupil according to the centroid of the binary image.Type: ApplicationFiled: December 7, 2018Publication date: August 27, 2020Inventors: Fengmei Nie, Wei Liu, Dongchun Ren, Jian Wang, Meng Yang, Xiaohu Gong
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Publication number: 20200257357Abstract: The disclosure discloses a calibration method and device, a storage medium and a processor. The method includes that: a calibration point is controlled to move on a predetermined motion track; a gaze track of a target object is acquired in a movement process of the calibration point; and a specified parameter is calibrated according to the predetermined motion track and the gaze track, the specified parameter is configured to predict a gaze point of the target object.Type: ApplicationFiled: October 31, 2018Publication date: August 13, 2020Inventors: Dongchun REN, Wei LIU, Zhijiang LOU, Xiaohu GONG, Jian WANG, Fengmei NIE, Meng YANG