公开(公告)号：US20230260291A1

公开(公告)日：2023-08-17

申请号：US17651405

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： BINBIN LI ,  Xinyu Du ,  Yao Hu ,  Hao Yu ,  Wende Zhang

IPC: G06V20/56 ,  B60W30/02

CPC classification number: G06V20/588 ,  B60W30/025 ,  B60W2420/42 ,  B60W2552/53 ,  B60W2420/52

Abstract: Methods and systems for a vehicle are provided. In one embodiment, the method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, the ground normal vector based on a sliding widow method; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.

公开(公告)号：US20230215045A1

公开(公告)日：2023-07-06

申请号：US17567371

申请日：2022-01-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yao Hu ,  Xinyu Du ,  Binbin Li ,  Hao Yu ,  Wende Zhang

IPC: G06T7/80 ,  G06T7/73 ,  G06V20/58

CPC classification number: G06T7/80 ,  G06T7/73 ,  G06V20/58 ,  G06T2207/30252 ,  G06T2207/10016 ,  B60R11/04

Abstract: A system for on-vehicle camera alignment monitoring includes an on-vehicle camera in communication with a controller. The controller monitors vehicle operating parameters and camera signal parameters, and captures an image file from the on-vehicle camera. A first level analysis of the image file, the vehicle operating parameters, and the camera signal parameters is executed to detect dynamic conditions and image feature parameters that affect camera alignment. An error with one of the dynamic conditions or the image feature parameters that affects the camera alignment is detected. A second level analysis of the camera signal parameters is executed to identify a root cause indicating one of the dynamic conditions or the image feature parameters that affects the camera alignment based upon the error. A camera alignment-related fault is detected based upon the root cause, and vehicle operation is controlled based upon the camera alignment-related fault.

公开(公告)号：US20230198037A1

公开(公告)日：2023-06-22

申请号：US17555776

申请日：2021-12-20

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Gregory G. Tuayev-Deane ,  Xinyu Du ,  Chaitanya Sankavaram

IPC: H01M10/48 ,  B60K1/04 ,  B60L58/12

CPC classification number: H01M10/486 ,  B60K1/04 ,  B60L58/12 ,  H01M2220/20

Abstract: A battery electric system includes a battery, sensor suite, and controller. The sensor suite includes a current sensor, voltage sensor, and temperature sensor. The controller is operable for determining an estimated open circuit voltage of the battery at different time points using a current signal and a voltage signal from the current and voltage sensors, and an equivalent circuit model (ECM). The controller determines an ECM-based state of charge (SOC) of the battery at the different time points, via a calibrated SOC map, using the open circuit voltage and temperature, and calculates a sensor gain value using the ECM-based SOC and a coulomb counting-based SOC, both at the different time points. A control action is executed with respect to the battery when the sensor gain value exceeds a predetermined gain fault threshold, including generating a fault notification signal indicative of a fault of the current sensor.

公开(公告)号：US20230137464A1

公开(公告)日：2023-05-04

申请号：US17518169

申请日：2021-11-03

Applicant: GM Global Technology Operations LLC

Inventor： Yao Hu ,  Xinyu Du ,  Wende Zhang ,  Hao Yu

IPC: B60W30/08 ,  G06K9/62

Abstract: A system in a vehicle includes a lidar system to transmit incident light and receive reflections from one or more objects as a point cloud of points. The system also includes processing circuitry to identify feature points among the points of the point cloud using principal component analysis. The feature points are planar points that form one or more surfaces or edge points. A set of edge points forms a linear surface.

公开(公告)号：US20220390607A1

公开(公告)日：2022-12-08

申请号：US17339626

申请日：2021-06-04

Applicant: GM Global Technology Operations LLC

Inventor： Xinyu Du ,  Yao Hu ,  Wende Zhang ,  Hao Yu

IPC: G01S17/89 ,  G01S17/86 ,  G01S17/42 ,  G01S17/58 ,  G01S19/48 ,  G01S19/53 ,  G01S19/40

Abstract: A LIDAR-to-vehicle alignment system includes a memory and an autonomous driving module. The memory stores points of data provided based on an output of a LIDAR sensor and GPS locations. The autonomous driving module performs an alignment process including performing feature extraction on the points of data to detect one or more features of one or more predetermined types of objects having one or more predetermined characteristics. The features are determined to correspond to one or more targets because the features have the predetermined characteristics. One or more of the GPS locations are of the targets. The alignment process further includes: determining ground-truth positions of the features; correcting the GPS locations based on the ground-truth positions; calculating a LIDAR-to-vehicle transform based on the corrected GPS locations; and based on results of the alignment process, determining whether one or more alignment conditions are satisfied.

公开(公告)号：US20210373138A1

公开(公告)日：2021-12-02

申请号：US16887397

申请日：2020-05-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shengbing Jiang ,  Yao Hu ,  Xinyu Du ,  Wen-Chiao Lin ,  Hao Yu ,  Shiming Duan

IPC: G01S7/497 ,  G01S17/931 ,  B60W50/00 ,  B60W60/00

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: recording, by a controller onboard the vehicle, lidar data from the lidar device while the vehicle is travelling on a straight road; determining, by the controller, that the vehicle is travelling straight on the straight road; detecting, by the controller, straight lane marks on the straight road; computing, by the controller, lidar boresight parameters based on the straight lane marks; calibrating, by the controller, the lidar device based on the lidar boresight parameters; and controlling, by the controller, the vehicle based on data from the calibrated lidar device.

公开(公告)号：US11148678B2

公开(公告)日：2021-10-19

申请号：US16395825

申请日：2019-04-26

Applicant: GM Global Technology Operations LLC

Inventor： Wen-Chiao Lin ,  Xinyu Du ,  Xiaoyu Huang ,  Paul E. Krajewski

IPC: B60W50/029 ,  B60W50/02 ,  B60W10/20 ,  B60W10/18 ,  B60W50/00

Abstract: System and method for controlling operation of a vehicle in real-time with a supervisory control module. A fault detection module is configured to receive respective sensor data from one or more sensors in communication with the vehicle and generate fault data. The supervisory control module includes at least one fault-tolerant controller configured to respond to a plurality of faults. The supervisory control module is configured to receive the fault data. When at least one fault is detected from the plurality of faults, the supervisory control module is configured to employ the fault-tolerant controller to generate at least one selected command. The selected command is transmitted to one or more device controllers for delivery to at least one of the respective components of the vehicle. Operation of the vehicle is controlled based in part on the selected command.

公开(公告)号：US11054339B2

公开(公告)日：2021-07-06

申请号：US16189084

申请日：2018-11-13

Applicant: GM Global Technology Operations LLC

Inventor： Jianshe Feng ,  Xinyu Du ,  Mutasim Salman ,  Kevin A. Cansiani

IPC: G01M13/045 ,  G01H1/00

Abstract: A machine bearing disposed on a rotatable member, such as may be present on a vehicle, is described. A method for monitoring a state of health of the machine bearing includes monitoring, via a microphone, an acoustic signal, and coincidently determining a rotational speed of the rotatable member associated with the machine bearing. The sound spectrum is correlated to the rotational speed of the rotating member, and a time-frequency analysis is executed to determine a sound spectrum. The sound spectrum is transformed to a residual spectrum. A first feature associated with a first frequency band and a second feature associated with a second frequency band are extracted from the residual spectrum. The state of health associated with the machine bearing is detected based upon the first and second features, and is communicated to a second controller.

公开(公告)号：US10946865B1

公开(公告)日：2021-03-16

申请号：US16601043

申请日：2019-10-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wen-Chiao Lin ,  Xinyu Du ,  Alexander M. Allan ,  Robert A. De Stefano ,  Xiaofeng Mao

IPC: B60L1/00 ,  B60L3/00 ,  H02G3/00 ,  B60W50/02 ,  G07C5/08 ,  B60R16/03 ,  G01R31/50

Abstract: A power circuit includes a power source and a plurality components that connect the power source to a subsystem of a vehicle. A fault detection module receives voltages at an output of the power source and at an input of the subsystem and current drawn by the subsystem, and distinguishes between a power source failure, a permanent and an intermittent disconnection of one of the components from the power source, and a loose connection between the power circuit and the subsystem or corrosion of one of the components, based on analyses of the voltages and the current. A fault mitigation module mitigates the first two faults by switching to a different power source in the vehicle to supply power to the subsystem, and mitigates the third and fourth faults by reducing the power consumed by the subsystem and by generating a warning regarding the intermittent disconnection or loose connection.

公开(公告)号：US10940736B2

公开(公告)日：2021-03-09

申请号：US16428117

申请日：2019-05-31

Applicant: GM Global Technology Operations LLC

Inventor： Timothy J. Romelhardt ,  Xinyu Du

IPC: B60G21/055 ,  B60G17/016 ,  B60W30/045 ,  B60G17/0195 ,  B60W10/22 ,  B60G17/018

Abstract: The present disclosure provides a sway bar for a suspension system of a motor vehicle. The sway bar includes a first lever arm for attachment to a left wheel suspension component and a second lever arm for attachment to a right wheel suspension component. The sway bar further includes a torsion spring device in connection between the first lever arm and the second lever arm to provide variable torsional stiffness. The torsion spring device includes a first torsion bar, a second torsion bar, and a clutch connected to the first torsion bar and the second torsion bar. The clutch is configured to move between a disengaged position and an engaged position where both of the first and second torsion bars transmit torque between the first and second lever arms to provide torsional stiffness.