公开(公告)号：US11965978B2

公开(公告)日：2024-04-23

申请号：US17511959

申请日：2021-10-27

Applicant: GM Global Technology Operations LLC

Inventor： Kamran Ali ,  Wende Zhang ,  Fan Bai

IPC: G01S7/40 ,  B60W50/00 ,  B60W60/00

CPC classification number: G01S7/40 ,  B60W50/00 ,  B60W2050/0052 ,  B60W2050/0083 ,  B60W60/001 ,  B60W2420/408 ,  B60W2556/50

Abstract: A calibration pipeline for 6DoF alignment parameters for an autonomous vehicle includes an automated driving controller instructed to receive inertial measurement unit (IMU) poses and final radar poses and determine smoothened IMU poses from the IMU poses and smoothened final radar poses from the final radar poses. The automated driving controller aligns the smoothened IMU poses and the smoothened final radar poses with one another to create a plurality of radar-IMU A, B relative pose pairs. The automated riving controller determines a solution yielding a threshold number of inliers of further filtered radar-IMU A, B relative pose pairs, randomly samples the further filtered radar-IMU A, B relative pose pairs with replacements several times to determine a stream of filtered radar-IMU A, B relative pose pairs, and solves for a solution X for the stream of filtered radar-IMU A, B relative pose pairs.

公开(公告)号：US20240085210A1

公开(公告)日：2024-03-14

申请号：US17930503

申请日：2022-09-08

Applicant: GM Global Technology Operations LLC

Inventor： Bo Yu ,  Fan Bai ,  Gui Chen ,  Joon Hwang ,  Carl P. Darukhanavala ,  Vivek Vijaya Kumar ,  Shu Chen ,  Donald K. Grimm

IPC: G01C21/00

CPC classification number: G01C21/3822 ,  G01C21/3841 ,  G01C21/3867

Abstract: A method of creating a high-definition (HD) map of a roadway includes receiving a multi-layer probability density bitmap. The multi-layer probability density bitmap represents a plurality of lane lines of the roadway sensed by a plurality of sensors of a plurality of vehicles. The multi-layer probability density bitmap includes a plurality of points. The method further includes recursively conducting a hill climbing search using the multi-layer probability density bitmap to create a plurality of lines. In addition, the method includes creating the HD map of the roadway using the plurality of lines determined by the hill climbing search.

公开(公告)号：US20240068836A1

公开(公告)日：2024-02-29

申请号：US17821898

申请日：2022-08-24

Applicant: GM Global Technology Operations LLC

Inventor： Bo Yu ,  Joon Hwang ,  Gui Chen ,  Carl P. Darukhanavala ,  Vivek Vijaya Kumar ,  Shu Chen ,  Donald K. Grimm ,  Fan Bai

IPC: G01C21/00

CPC classification number: G01C21/3822 ,  G01C21/3841 ,  G01C21/3878

Abstract: A method includes receiving sensor data from a plurality of sensors of a plurality of vehicles. The sensor data includes vehicle GPS data and sensed lane line data of the roadway. The method further includes creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data, fusing the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap, creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap, extracting lane line data from the plurality of multi-layer probability density bitmaps, and creating the high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the lane line data extracted from the plurality of multi-layer probability density bitmaps.

公开(公告)号：US11893882B2

公开(公告)日：2024-02-06

申请号：US17581528

申请日：2022-01-21

Applicant: GM Global Technology Operations LLC

Inventor： Fan Bai ,  Donald K. Grimm ,  Paul E. Krajewski ,  Jiang-Ling Du ,  Mason David Gemar

IPC: G08G1/01

CPC classification number: G08G1/0112 ,  G08G1/0129 ,  G08G1/0133

Abstract: A system is provided for mitigating a road network congestion. The system includes a plurality of motor vehicles positioned in associated locations in a road network. Each vehicle has one or more sensors generating an input and a Telematics Control Unit (TCU) for generating at least one location signal for a location of the associated motor vehicle and at least one event signal for an event related to the associated motor vehicle, with the location signal and the event signal corresponding to a High Speed Vehicle Telemetry Data (HSVT data) based on the input from the sensors. The system further includes a computer, which communicates with a display device and the TCUs. The computer includes a processor and a computer readable medium including instructions, such that the processor is programmed to identify the congestion and determine that the congestion is a recurring or a non-recurring congestion.

公开(公告)号：US11875611B2

公开(公告)日：2024-01-16

申请号：US17392480

申请日：2021-08-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Mohammad Naserian ,  Paul E. Krajewski ,  Fan Bai ,  Abby Szafranski ,  Donald K. Grimm ,  Craig A. Kollar ,  Bryan Quintanilla

IPC: G07C5/00 ,  H04W4/40

CPC classification number: G07C5/008 ,  G07C5/006 ,  H04W4/40

Abstract: According to one or more examples, a system includes an observer vehicle, and a vehicle in a predetermined vicinity of the observer vehicle. The observer vehicle detects an operating condition of the vehicle using one or more perception devices. The observer vehicle determines that the operating condition does not satisfy a predetermined norm. The observer vehicle generates a message indicating the operating condition of the vehicle. The observer vehicle identifies a communication identifier of the vehicle. The observer vehicle sends the message to be received by the vehicle using the communication identifier via a vehicle to everything (V2X) communication module.

公开(公告)号：US20240004715A1

公开(公告)日：2024-01-04

申请号：US17852722

申请日：2022-06-29

Applicant: GM Global Technology Operations LLC

Inventor： Fan Bai ,  Markus Jochim ,  Douglas C. Martin ,  Mahesh Pottelu ,  Ahmad El Baba

IPC: G06F9/50 ,  G07C5/08

CPC classification number: G06F9/5033 ,  G07C5/0841

Abstract: A system for cloud coordinated vehicle data collection includes an onboard vehicle data management subsystem and a remotely-located back-office subsystem. Each subsystem includes one or more control modules having a processor, a memory, and input/output (I/O) ports. The control modules execute program code portions stored in memory. A first program code portion collects vehicle data from onboard vehicle data sources. A second program code portion determines which of several distinct communications systems will be used to transmit the vehicle data to the remotely-located back-office subsystem. A third program code portion causes the remotely-located back-office subsystem to allocate data processing tasks to specific computing resources. A fourth program code portion causes the onboard vehicle data management subsystem and the remotely-located back-office subsystem to continuously adjust data processing task allocation between onboard vehicle control modules and remotely located back-office control modules by minimizing costs and honoring task deadlines and resource consumption constraints.

公开(公告)号：US11835678B2

公开(公告)日：2023-12-05

申请号：US17556009

申请日：2021-12-20

Applicant: GM Global Technology Operations LLC

Inventor： Jinzhu Chen ,  Fan Bai ,  Donald K. Grimm ,  Richard Gordon

IPC: G01W1/10 ,  B60Q9/00 ,  H04W4/46 ,  G01W1/18 ,  G01W1/00 ,  G07C5/00 ,  G07C5/08

CPC classification number: G01W1/10 ,  B60Q9/00 ,  G07C5/008 ,  G07C5/0808 ,  B60W2555/20 ,  G01W1/00 ,  G01W1/18 ,  G01W2203/00 ,  H04W4/46

Abstract: A system for providing weather conditions to a target vehicle includes a plurality of sensors mounted within the target vehicle adapted to measure weather conditions at the target vehicle and a computer processor adapted to collect data of weather conditions at the target vehicle from the plurality of sensors mounted within the target vehicle, collect data of measured weather conditions of at least one known location remote from the target vehicle, and build a temporal-spatial effectiveness model adapted to estimate weather conditions of at least one unknown location remote from the target vehicle using the data of weather conditions at the target vehicle and the data of measured weather conditions of the at least one known location remote from the target vehicle.

公开(公告)号：US20230184563A1

公开(公告)日：2023-06-15

申请号：US17550524

申请日：2021-12-14

Applicant: GM Global Technology Operations LLC

Inventor： Carlos Eduardo Arreaza ,  Amin Abdossalami ,  Joseph K. Moore ,  Donald K. Grimm ,  Fan Bai ,  Harnit Kaur Anand ,  Jinzhu Chen

IPC: G01C21/00 ,  G07C5/02 ,  E01C23/01

CPC classification number: G01C21/3815 ,  G07C5/02 ,  G01C21/3841 ,  E01C23/01 ,  G07C5/008

Abstract: A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to receive sensor data including wheel speed measurements, suspension displacement measurements, and tire leak detection data from a vehicle, estimate a rough road measurement based on a deviation of a wheel speed with respect to an average wheel speed and or based on suspension displacement sensor signals and generate temporal spatial map data indicative of a location and a roughness severity metric of a roadway portion based on the rough road measurement and tire leak detection data.

公开(公告)号：US20230162602A1

公开(公告)日：2023-05-25

申请号：US17534721

申请日：2021-11-24

Applicant: GM Global Technology Operations LLC

Inventor： Vivek Vijaya Kumar ,  Bo Yu ,  Hariharan Krishnan ,  Kamran Ali ,  Fan Bai

IPC: G08G1/0967 ,  G08G1/01 ,  B60W60/00 ,  G06V20/54 ,  H04W4/44

CPC classification number: G08G1/096708 ,  B60W60/001 ,  G06V20/54 ,  G08G1/0116 ,  H04W4/44 ,  B60W2520/06 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4045 ,  B60W2556/45 ,  G06V2201/08

Abstract: A communication system that determines a context and an intent of a specific remote vehicle located in a surrounding environment of a host vehicle includes one or more controllers for receiving sensed perception data including sensed perception data. The one or more controllers execute instructions to determine a plurality of vehicle parameters related to the specific remote vehicle. The the one or more controllers execute instructions to associate the specific remote vehicle with a specific lane of travel of a roadway based on map data. The one or more controllers determines possible maneuvers, possible egress lanes, and a speed limit for the specific remote vehicle for the specific lane of travel based on the map data, and determines the context and the intent of the specific remote vehicle based on the plurality of vehicle parameters, the possible maneuvers, the possible egress lanes for the specific remote vehicle, and the speed limit related to the specific remote vehicle.

公开(公告)号：US11631325B2

公开(公告)日：2023-04-18

申请号：US16550808

申请日：2019-08-26

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Fan Bai ,  Bo Yu ,  David A. Craig ,  Ashok Yendluri

IPC: G05D1/00 ,  G08G1/095 ,  G06N20/00 ,  H04L67/10

Abstract: Systems and methods are provided for interpreting traffic information. A method includes: receiving, by a processor, visual data from vehicles, wherein the visual data is associated with an intersection of a roadway having one or more lanes; receiving, by the processor, vehicle data from the vehicles, wherein the vehicle data is associated with the intersection of the roadway; determining, by the processor, a first state of a traffic light associated with the intersection based on the visual data; determining, by the processor, a second state of the traffic light associated with the intersection based on the vehicle data; correlating, by the processor, the first state and the second state based on a time synchronization; assigning, by the processor, the traffic light to a lane of the roadway based on the correlating; and communicating, by the processor, the traffic light to lane assignment for use in controlling a vehicle.