Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
DETAILED ACTION
This action is in response to communications filed on 5/15/2025. Accordingly, claims 1- 20 are pending.
Claim Rejections - 35 USC § 102
The following is a quotation of the appropriate paragraphs of 35 U.S.C. 102 that form the basis for the rejections under this section made in this Office action:
A person shall be entitled to a patent unless –
(a)(1) the claimed invention was patented, described in a printed publication, or in public use, on sale, or otherwise available to the public before the effective filing date of the claimed invention.
Claims 1-2, 5-8, 11-16 & 19-20 are rejected under 35 U.S.C. 102(a)(1) as being anticipated by CN 112665590B (hereinafter 590).
As per claim 1, 590 discloses:
1: An intelligent driving vehicle control method, comprising:
obtaining a driving mode of the intelligent driving vehicle and current driving environment information at a current moment (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention);
in response to that the driving mode of the intelligent driving vehicle at the current moment is an intersection mode, obtaining traffic-flow historical trajectory information corresponding to a current road segment on which the intelligent driving vehicle is driving (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention; target historical traffic flow trajectory);
determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention; target historical trajectory and second trajectory); and
controlling the intelligent driving vehicle to drive based on the target driving trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention; driving mode, planned path and current position).
2: wherein the obtaining a driving mode of the intelligent driving vehicle at a current moment comprises: obtaining a driving mode of the intelligent driving vehicle at a previous moment; and determining the driving mode of the intelligent driving vehicle at the current moment based on the driving mode of the intelligent driving vehicle at the previous moment and the current driving environment information (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
5: wherein the obtaining traffic-flow historical trajectory information corresponding to a current road segment on which the intelligent driving vehicle is driving comprises: obtaining a plurality pieces of driving environment information collected during preset duration prior to the current moment of the intelligent driving vehicle; determining historical trajectory information of a plurality of target objects driving on the current road segment based on the plurality pieces of driving environment information; and determining the traffic-flow historical trajectory information based on the historical trajectory information of each target object (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
6: wherein the determining historical trajectory information of a plurality of target objects driving on the current road segment based on the plurality pieces of driving environment information comprises: determining the plurality of target objects driving on the current road segment based on the plurality pieces of driving environment information; in response to that a quantity of the target objects is greater than a preset quantity threshold, determining a trajectory point sequence for each target object based on the plurality pieces of driving environment information, and determining the historical trajectory information of each target object based on the trajectory point sequence of each target object; and in response to that the quantity of the target objects is less than or equal to the preset quantity threshold, obtaining the pre-stored historical trajectory information of the plurality of target objects based on the current road segment (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
7: wherein the determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information comprises: translating, based on the historical trajectory information of each target object in the traffic- flow historical trajectory information, trajectory points of each target object to a coordinate system corresponding to the intelligent driving vehicle, to obtain corresponding translated trajectory points of each target object; determining a reference trajectory based on the corresponding translated trajectory points of each target object; and determining the target driving trajectory based on the current driving environment information and the reference trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
8: wherein the determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information comprises: translating, based on the historical trajectory information of each target object in the traffic-flow historical trajectory information, trajectory points of each target object to a coordinate system corresponding to the intelligent driving vehicle, to obtain corresponding translated trajectory points of each target object; determining a reference trajectory based on the corresponding translated trajectory points of each target object; and determining the target driving trajectory based on the current driving environment information and the reference trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
11: wherein the determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information comprises: translating, based on the historical trajectory information of each target object in the traffic- flow historical trajectory information, trajectory points of each target object to a coordinate system corresponding to the intelligent driving vehicle, to obtain corresponding translated trajectory points of each target object; determining a reference trajectory based on the corresponding translated trajectory points of each target object; and determining the target driving trajectory based on the current driving environment information and the reference trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
12: wherein the determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information comprises: translating, based on the historical trajectory information of each target object in the traffic-flow historical trajectory information, trajectory points of each target object to a coordinate system corresponding to the intelligent driving vehicle, to obtain corresponding translated trajectory points of each target object; determining a reference trajectory based on the corresponding translated trajectory points of each target object; and determining the target driving trajectory based on the current driving environment information and the reference trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
13: wherein the determining a reference trajectory based on the corresponding translated trajectory points of each target object comprises: removing an abnormal translated trajectory point from the corresponding translated trajectory points of each target object to obtain processed translated trajectory points; performing clustering processing on the processed translated trajectory points to obtain at least one translated trajectory point set; performing fitting processing on each translated trajectory point set to obtain a corresponding trajectory for each translated trajectory point set; and determining the reference trajectory from the corresponding trajectory for each translated trajectory point set based on a planned path of the intelligent driving vehicle (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
14: A non-transitory computer readable storage medium, storing a computer program, which, when executed by a processor, causes the processor to implement an intelligent driving vehicle control method, wherein the method comprises: obtaining a driving mode of the intelligent driving vehicle and current driving environment information at a current moment; in response to that the driving mode of the intelligent driving vehicle at the current moment is an intersection mode, obtaining traffic-flow historical trajectory information corresponding to a current road segment on which the intelligent driving vehicle is driving; determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information; and controlling the intelligent driving vehicle to drive based on the target driving trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention; see claim 1 above).
15: An electronic device, wherein the electronic device comprises: a processor; and a memory, configured to store processor-executable instructions, wherein the processor is configured to read the instructions from the memory, and execute the instructions to implement an intelligent driving vehicle control method, wherein the method comprises: obtaining a driving mode of the intelligent driving vehicle and current driving environment information at a current moment; in response to that the driving mode of the intelligent driving vehicle at the current moment is an intersection mode, obtaining traffic-flow historical trajectory information corresponding to a current road segment on which the intelligent driving vehicle is driving; determining a target driving trajectory based on the traffic-flow historical trajectory information and the current driving environment information; and controlling the intelligent driving vehicle to drive based on the target driving trajectory (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention; see claim 1 above).
16: wherein the obtaining a driving mode of the intelligent driving vehicle at a current moment comprises: obtaining a driving mode of the intelligent driving vehicle at a previous moment; and determining the driving mode of the intelligent driving vehicle at the current moment based on the driving mode of the intelligent driving vehicle at the previous moment and the current driving environment information (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
19: wherein the obtaining traffic-flow historical trajectory information corresponding to a current road segment on which the intelligent driving vehicle is driving comprises: obtaining a plurality pieces of driving environment information collected during preset duration prior to the current moment of the intelligent driving vehicle; determining historical trajectory information of a plurality of target objects driving on the current road segment based on the plurality pieces of driving environment information; and determining the traffic-flow historical trajectory information based on the historical trajectory information of each target object (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
20: wherein the determining historical trajectory information of a plurality of target objects driving on the current road segment based on the plurality pieces of driving environment information comprises: determining the plurality of target objects driving on the current road segment based on the plurality pieces of driving environment information; in response to that a quantity of the target objects is greater than a preset quantity threshold, determining a trajectory point sequence for each target object based on the plurality pieces of driving environment information, and determining the historical trajectory information of each target object based on the trajectory point sequence of each target object; and in response to that the quantity of the target objects is less than or equal to the preset quantity threshold, obtaining the pre-stored historical trajectory information of the plurality of target objects based on the current road segment (see at least 590 fig. 1-8 and in particular fig. 1-4 and Abstract & Disclosure of Invention).
Conclusion
Any inquiry concerning this communication or earlier communications from the examiner should be directed to MACEEH ANWARI whose telephone number is 571-272-7591. The examiner can normally be reached on 9-9:30.
If attempts to reach the examiner by telephone are unsuccessful, the examiner’s supervisor, Angela Ortiz can be reached on 571-272-1206. The fax phone number for the organization where this application or proceeding is assigned is 571-273-8300.
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MACEEH . ANWARI
Primary Examiner
Art Unit 3663
/MACEEH ANWARI/ Primary Examiner, Art Unit 3663
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