US 11,948,370 B2
Precise parking method, apparatus and system of truck in shore-based crane area
Yiming Li, Shanghai (CN); Yuhe Jin, Shanghai (CN); Jinpeng Cai, Shanghai (CN); and Nan Wu, Beijing (CN)
Assigned to BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD., Beijing (CN)
Filed by Beijing Tusen Zhitu Technology Co., Ltd., Beijing (CN)
Filed on Jun. 28, 2021, as Appl. No. 17/360,743.
Application 17/360,743 is a continuation of application No. PCT/CN2019/077078, filed on Mar. 6, 2019.
Claims priority of application No. 201811602321.3 (CN), filed on Dec. 26, 2018.
Prior Publication US 2021/0327271 A1, Oct. 21, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/58 (2022.01); B60W 30/06 (2006.01); G08G 1/14 (2006.01)
CPC G06V 20/586 (2022.01) [B60W 30/06 (2013.01); G08G 1/142 (2013.01); G08G 1/148 (2013.01); G08G 1/149 (2013.01); B60W 2420/52 (2013.01); B60W 2552/53 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
acquiring real-time point cloud data by scanning a lane crossed by a shore crane using a LiDAR;
clustering the real-time point cloud data to obtain a set of point clouds for a truck moving in the lane;
obtaining a real-time distance from the moving truck to a target parking space based on the set of point clouds and a vehicle point cloud model; and
broadcasting a message containing the real-time distance, such that a vehicle controller controls the moving truck to stop at the target parking space based on the real-time distance contained in the message.