US 12,409,849 B2
Method and apparatus for passing through barrier gate crossbar by vehicle
Yanyan Wang, Shenzhen (CN); Zuguang Wu, Hangzhou (CN); Yue Yang, Shanghai (CN); and Jia Zheng, Hangzhou (CN)
Assigned to SHENZHEN YINWANG INTELLIGENT TECHNOLOGIES CO., LTD., Shenzhen (CN)
Filed by Shenzhen Yinwang Intelligent Technologies Co., Ltd., Guangdong (CN)
Filed on Oct. 27, 2022, as Appl. No. 17/975,392.
Application 17/975,392 is a continuation of application No. PCT/CN2020/087578, filed on Apr. 28, 2020.
Prior Publication US 2023/0048680 A1, Feb. 16, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 30/18009 (2013.01); B60W 2420/403 (2013.01); B60W 2552/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for passing through a barrier gate crossbar by an autonomous driving vehicle, comprising:
obtaining data of a plurality of barrier gate crossbars collected by one or more sensors;
determining information of a target barrier gate crossbar of the plurality of barrier gate crossbars from the data of the plurality of barrier gate crossbars based on a pose of the target barrier gate crossbar, the pose including a position and an orientation of the target barrier gate crossbar, wherein the target barrier gate crossbar is a barrier gate crossbar of a lane on which the autonomous driving vehicle is located;
determining a status of the target barrier gate crossbar based on the information of the target barrier gate crossbar, the status of the target barrier gate crossbar comprising one of an open state or a close state, wherein the status of the target barrier gate crossbar further comprises a motion state comprising an ascending state, a descending state, or a static state; and
controlling, based on the status of the target barrier gate crossbar, the autonomous driving vehicle to pass through the target barrier gate crossbar, comprising:
controlling the autonomous driving vehicle to pass through the target barrier gate crossbar, when the one of the open state or the close state of the target barrier gate crossbar is the open state, and the motion state of the target barrier gate crossbar is the ascending state or the static state.