US 12,271,828 B2
Method, apparatus, and system for representing internet of vehicles knowledge base
Xiaotian Yin, Shenzhen (CN); Jian Li, Plano, TX (US); and Yongxiang Tao, Shanghai (CN)
Assigned to HUAWEI TECHNOLOGIES CO., LTD., Guangdong (CN)
Filed by HUAWEI TECHNOLOGIES CO., LTD., Guangdong (CN)
Filed on Jan. 26, 2021, as Appl. No. 17/158,969.
Application 17/158,969 is a continuation of application No. PCT/CN2019/098716, filed on Jul. 31, 2019.
Claims priority of application No. 201810857766.X (CN), filed on Jul. 31, 2018.
Prior Publication US 2021/0150376 A1, May 20, 2021
Int. Cl. G06N 5/022 (2023.01); B60W 30/08 (2012.01); B62D 15/02 (2006.01); G06N 5/025 (2023.01)
CPC G06N 5/022 (2013.01) [B60W 30/08 (2013.01); B62D 15/021 (2013.01); G06N 5/025 (2013.01); B60W 2552/30 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A method for representing internet of vehicles (IOV) knowledge based on a simplicial complex (SC), the method comprising:
representing k′-dimensional knowledge in a k-dimensional continuous space by using a k-dimensional SC with k′-dimensional function values, wherein a coordinate of a vertex of the SC is values (x1, . . . , xk) of k input variables, a function value of the vertex is k′ output values (y1, . . . , yk) of a function, and a relationship between the coordinate and the function value is (y1, . . . , yk)=f (x1, . . . , xk), wherein f is a mapping function based on IOV knowledge, and k and k′ are natural numbers; and
representing a safe boundary of the IOV knowledge by using a boundary of the SC, wherein the IOV knowledge comprises a steering wheel angle of an ego-vehicle, a road curvature, a speed of the ego-vehicle, and an inter-parameter relationship compliant with an objective law of vehicle dynamics, wherein the steering wheel angle of the ego-vehicle, the road curvature, and the speed of the ego-vehicle are obtained by using a sensor on the ego-vehicle; and
wherein a IOV knowledge is identified in the SC, the IOV knowledge having a coordinate corresponding to a combination of a road curvature and a speed of an ego-vehicle as input variables;
a steering wheel angle is determined for the ego-vehicle based on the identified IOV knowledge; and
the ego-vehicle is controlled to perform a self-driving or an automatic parking based on the determined steering wheel angle.