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    SMART TRAILER HITCH CONTROL USING HMI ASSISTED VISUAL SERVOING
    94.
    发明申请
    SMART TRAILER HITCH CONTROL USING HMI ASSISTED VISUAL SERVOING 有权
    使用人机辅助视觉维护的智能拖车操纵杆控制

    公开(公告)号：US20160378118A1

    公开(公告)日：2016-12-29

    申请号：US14747888

    申请日：2015-06-23

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng ,  Wei Tong ,  Jinsong Wang ,  Wende Zhang

    IPC: G05D1/02 ,  B60R11/04 ,  B60R1/00 ,  B62D13/00

    CPC classification number: G05D1/0246 ,  B60D1/36 ,  B60D1/62 ,  B60R1/00 ,  B60R2300/202 ,  B60R2300/808 ,  B62D13/00 ,  G05D1/0212

    Abstract: A method for autonomously aligning a tow hitch ball on a towing vehicle and a trailer drawbar on a trailer through a human-machine interface (HMI) assisted visual servoing process. The method includes providing rearview images from a rearview camera. The method includes touching the tow ball on a display to register a location of the tow ball in the image and touching the drawbar on the display to register a location of a target where the tow ball will be properly aligned with the drawbar. The method provides a template pattern around the target on the image and autonomously moves the vehicle so that the tow ball moves towards the target. The method predicts a new location of the target as the vehicle moves and identifies the target in new images as the vehicle moves by comparing the previous template pattern with an image patch around the predicted location.

    Abstract translation: 一种用于通过人机界面（HMI）辅助的视觉伺服过程来自动地将牵引车上的牵引牵引球和拖车上的拖车牵引杆对准的方法。 该方法包括从后视摄像机提供后视图像。 该方法包括在显示器上触摸拖球，以将拖曳球的位置注册在图像中并且在显示器上接触牵引杆以登记目标的位置，其中拖曳球将与牵引杆正确对准。 该方法提供围绕图像上的目标的模板图案，并且自动地移动车辆，使得拖曳球朝向目标移动。 当车辆移动时，该方法预测目标的新位置，并通过将先前的模板模式与预测位置周围的图像补丁进行比较来识别车辆移动时的新图像中的目标。

    Full speed lane sensing with a surrounding view system
    95.
    发明授权
    Full speed lane sensing with a surrounding view system 有权
    全速车道感应与周边视野系统

    公开(公告)号：US09516277B2

    公开(公告)日：2016-12-06

    申请号：US13859628

    申请日：2013-04-09

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Wende Zhang ,  Bakhtiar Brian Litkouhi ,  Kent S. Lybecker

    IPC: H04N7/18 ,  G06K9/00

    CPC classification number: H04N7/181 ,  G06K9/00798

    Abstract: A system and method for providing lane sensing on a vehicle by detecting roadway lane-markers, where the system employs a surround view camera system providing a top-down view image around the vehicle. The method includes detecting left-side and right-side lane boundary lines in the top-down view image, and then determining whether the lane boundary lines in the image are aligned from one image frame to a next image frame and are aligned from image to image in the top-down view image. If the boundary lines are not aligned, then calibration of one or more of the cameras is performed, and if the lines are aligned, then a model fitting process is used to specifically identify the location of the boundary lines on the roadway.

    Abstract translation: 一种用于通过检测道路车道标记来在车辆上提供车道感测的系统和方法，其中系统采用围绕车辆提供俯视图的环绕立体照相机系统。 该方法包括检测自顶向下视图图像中的左侧和右侧车道边界线，然后确定图像中的车道边界线是否从一个图像帧对准到下一个图像帧，并且从图像到 图像在自上而下的视图图像。 如果边界线不对齐，则执行一个或多个相机的校准，并且如果线对齐，则使用模型拟合过程来专门识别道路上的边界线的位置。

    VEHICLE OPERATOR MONITORING SYSTEM AND METHOD
    96.
    发明申请
    VEHICLE OPERATOR MONITORING SYSTEM AND METHOD 有权
    车辆操作员监控系统及方法

    公开(公告)号：US20160224852A1

    公开(公告)日：2016-08-04

    申请号：US15006763

    申请日：2016-01-26

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  Carnegie Mellon University

    Inventor： Francisco Vicente ,  Zehua Huang ,  Xuehan Xiong ,  Fernando De La Torre ,  Wende Zhang ,  Dan Levi ,  Debbie E. Nachtegall

    IPC: G06K9/00 ,  G06T7/00 ,  G06T7/20 ,  G06K9/48 ,  B60R1/00 ,  B60Q9/00

    CPC classification number: G06K9/00845 ,  B60Q9/00 ,  G06K9/00268 ,  G06K9/0061 ,  G06T7/75 ,  G06T2207/30201 ,  G06T2207/30268

    Abstract: A method for monitoring a vehicle operator can be executed by a controller and includes the following steps: (a) receiving image data of a vehicle operator's head; (b) tracking facial feature points of the vehicle operator based on the image data; (c) creating a 3D model of the vehicle operator's head based on the facial feature points in order to determine a 3D position of the vehicle operator's head; (d) determining a gaze direction of the vehicle operator based on a position of the facial feature points and the 3D model of the vehicle operator's head; (e) determining a gaze vector based on the gaze direction and the 3D position of the vehicle operator's head; and (f) commanding an indicator to activate when the gaze vector is outside a predetermined parameter.

    Abstract translation: 用于监视车辆操作者的方法可以由控制器执行，并且包括以下步骤：（a）接收车辆驾驶员头部的图像数据; （b）基于图像数据跟踪车辆操作者的面部特征点; （c）基于面部特征点创建车辆驾驶员头部的3D模型，以便确定车辆驾驶员头部的3D位置; （d）基于所述面部特征点和所述车辆驾驶员头部的3D模型的位置确定所述车辆驾驶员的视线方向; （e）基于车辆驾驶员头部的注视方向和3D位置确定注视向量; 和（f）当注视矢量在预定参数之外时命令指示器激活。

    Eyes-off-the-road classification with glasses classifier
    98.
    发明授权
    Eyes-off-the-road classification with glasses classifier 有权
    眼镜分类仪眼部分类

    公开(公告)号：US09230180B2

    公开(公告)日：2016-01-05

    申请号：US14041105

    申请日：2013-09-30

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  CARNEGIE MELLON UNIVERSITY

    Inventor： Wende Zhang ,  Dan Levi ,  Debbie E. Nachtegall ,  Fernando De la Torre ,  Franscisco Vicente

    IPC: G06K9/00

    CPC classification number: G06K9/00845

    Abstract: A method for determining an Eyes-Off-The-Road (EOTR) condition exists includes capturing image data corresponding to a driver from a monocular camera device. A detection of whether the driver is wearing eye glasses based on the image data using an eye glasses classifier. When it is detected that the driver is wearing eye glasses, a driver face location is detected from the captured image data and it is determined whether the EOTR condition exists based on the driver face location using an EOTR classifier.

    Abstract translation: 存在一种用于确定眼睛偏离（EOTR）条件的方法，包括从单目相机装置捕获与驾驶员对应的图像数据。 基于使用眼镜分类器的图像数据来检测驾驶员是否佩戴眼镜。 当检测到驾驶员佩戴眼镜时，从捕获的图像数据中检测驾驶者面部位置，并且使用EOTR分类器基于驾驶员面部位置来确定是否存在EOTR条件。

    DRIVER GAZE DETECTION SYSTEM
    99.
    发明申请
    DRIVER GAZE DETECTION SYSTEM 有权
    驱动器检测系统

    公开(公告)号：US20140204193A1

    公开(公告)日：2014-07-24

    申请号：US14041016

    申请日：2013-09-30

    Applicant: CARNEGIE MELLON UNIVERSITY ,  GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Wende Zhang ,  Dan Levi ,  Debbie E. Nachtegall ,  Fernando De La Torre ,  Dong Huang

    IPC: G06K9/00

    CPC classification number: G06K9/00845 ,  G06K9/00597 ,  G06K9/0061

    Abstract: A method for detecting an eyes-off-the-road condition based on an estimated gaze direction of a driver of a vehicle includes monitoring facial feature points of the driver within image input data captured by an in-vehicle camera device. A location for each of a plurality of eye features for an eyeball of the driver is detected based on the monitored facial features. A head pose of the driver is estimated based on the monitored facial feature points. The gaze direction of the driver is estimated based on the detected location for each of the plurality of eye features and the estimated head pose.

    Abstract translation: 基于车辆的驾驶员的估计的注视方向来检测目标偏离路况的方法包括监视由车载摄像机装置拍摄的图像输入数据内的驾驶员的面部特征点。 基于所监视的面部特征来检测针对驾驶员的眼球的多个眼睛特征中的每一个的位置。 基于被监测的面部特征点估计驾驶员头部姿势。 基于检测到的多个眼睛特征中的每一个的位置和估计的头部姿势来估计驾驶员的视线方向。

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