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公开(公告)号：US09903945B2
公开(公告)日：2018-02-27
申请号：US14614164
申请日：2015-02-04
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xiaofeng F. Song , Hualin Tan , Shuqing Zeng
IPC: G01S13/93 , G01S13/60 , G01S13/86 , G01S13/87 , B60W40/105
CPC classification number: G01S13/60 , B60W40/105 , B60W2050/0031 , B60W2420/52 , B60W2520/14 , B60W2520/28 , B60W2550/10 , G01S13/605 , G01S13/86 , G01S13/874 , G01S13/878 , G01S13/931 , G01S2013/9342 , G01S2013/9346 , G01S2013/9353 , G01S2013/9371
Abstract: Methods and systems for estimating motion of a vehicle are provided. Radar data pertaining to one or more stationary objects in proximity to the vehicle are obtained via one or more radar units of the vehicle. The motion of the vehicle is estimating using the radar data via a processor of the vehicle.
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公开(公告)号：US09769606B2
公开(公告)日：2017-09-19
申请号：US14722566
申请日：2015-05-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Fan Bai
Abstract: A positioning method for a mobile platform includes acquiring GPS position data associated with the mobile platform from a plurality of GPS satellites observable by the mobile platform. A set of wireless range measurements associated with the mobile platform and a plurality of wireless access points in communication with the mobile platform are received (e.g., via time-of-flight measurements). Wireless position data associated with the plurality of wireless access points is received from a server communicatively coupled to the mobile platform over a network. A corrected position of the mobile platform based on the wireless position data, the wireless range measurements, and the GPS position data.
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公开(公告)号：US09696723B2
公开(公告)日：2017-07-04
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
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.
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104.发明授权Misalignment correction and state of health estimation for lane management fusion function 有权车道管理融合功能的对准校正和健康状况估计公开(公告)号：US09286679B2
公开(公告)日：2016-03-15
申请号：US14338076
申请日：2014-07-22
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Xiaofeng Frank Song
CPC classification number: G06T7/0018 , G06K9/00798 , G06K9/6262 , G06K9/6293 , G06T7/80 , G06T2207/20221 , G06T2207/30256
Abstract: A method for state of health estimation and misalignment correction in a vehicle lane management system. Two lane sensing systems onboard a vehicle provide lane information to a lane management system, where one of the lane sensing systems may be a dedicated forward-viewing lane sensing system, and the other may use images from a surround-view camera system. The lane information is stored in a fixed-length, moving-window circular data buffer. A correlation coefficient is recursively computed from the lane information from the two lane sensing systems and used to calculate a state of health of the lane management system. A linear regression relationship is also computed between the data from the two lane sensing systems, and the scale factor and offset value are applied to the lane information from the second lane sensing system before a fusion calculation is performed on the lane information from the two lane sensing systems.
Abstract translation: 一种在车道管理系统中的健康状况估计和不对准校正的方法。 车道上的双车道感测系统向车道管理系统提供车道信息，其中车道感测系统中的一个可以是专用的前视车道感测系统，而另一车道感测系统可以使用来自环绕立体照相机系统的图像。 车道信息存储在固定长度的移动窗口循环数据缓冲器中。 相关系数从两车道感测系统的车道信息递归计算，并用于计算车道管理系统的健康状况。 还在来自两车道感测系统的数据之间计算线性回归关系，并且在对来自两车道的车道信息执行融合计算之前，将比例因子和偏移值应用于来自第二车道感测系统的车道信息 传感系统。
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公开(公告)号：US09255988B2
公开(公告)日：2016-02-09
申请号：US14156681
申请日：2014-01-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Jeremy A. Salinger , Bakhtiar B. Litkouhi , Kevin A. O'Dea , Joel Pazhayampallil , Mohannad Murad , James N. Nickolaou
CPC classification number: G01S13/66 , G01S13/726 , G01S13/878 , G01S13/9029 , G01S13/931 , G01S2013/9375 , G01S2013/9378
Abstract: A method of detecting and tracking objects using multiple radar sensors. Objects relative to a host vehicle are detected from radar data generated by a sensing device. The radar data includes Doppler measurement data. Clusters are formed, by a processor, as a function of the radar data. Each cluster represents a respective object. Each respective object is classified, by the processor, as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle. Target tracking is applied, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object; otherwise, updating an occupancy grid in response to classifying the object as a stationary object.
Abstract translation: 使用多个雷达传感器检测和跟踪物体的方法。 从感测装置生成的雷达数据中检测相对于主车辆的物体。 雷达数据包括多普勒测量数据。 作为雷达数据的函数，由处理器形成群集。 每个集群表示相应的对象。 基于每个物体的多普勒测量数据和主车辆的车速，每个对象被处理器分类为静止或非静止。 目标跟踪由处理器应用于随着时间的多普勒测量数据响应被分类为非静止对象的对象而应用于对象; 否则，响应于将对象分类为静止对象来更新占用网格。
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Patent Agency Ranking
106.发明申请公开(公告)号：US20160027176A1
公开(公告)日：2016-01-28
申请号：US14338076
申请日：2014-07-22
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Xiaofeng Frank Song
CPC classification number: G06T7/0018 , G06K9/00798 , G06K9/6262 , G06K9/6293 , G06T7/80 , G06T2207/20221 , G06T2207/30256
Abstract: A method for state of health estimation and misalignment correction in a vehicle lane management system. Two lane sensing systems onboard a vehicle provide lane information to a lane management system, where one of the lane sensing systems may be a dedicated forward-viewing lane sensing system, and the other may use images from a surround-view camera system. The lane information is stored in a fixed-length, moving-window circular data buffer. A correlation coefficient is recursively computed from the lane information from the two lane sensing systems and used to calculate a state of health of the lane management system. A linear regression relationship is also computed between the data from the two lane sensing systems, and the scale factor and offset value are applied to the lane information from the second lane sensing system before a fusion calculation is performed on the lane information from the two lane sensing systems.
Abstract translation: 一种在车道管理系统中的健康状况估计和不对准校正的方法。 车道上的双车道感测系统向车道管理系统提供车道信息，其中车道感测系统中的一个可以是专用的前视车道感测系统，而另一车道感测系统可以使用来自环绕立体照相机系统的图像。 车道信息存储在固定长度的移动窗口循环数据缓冲器中。 相关系数从两车道感测系统的车道信息递归计算，并用于计算车道管理系统的健康状况。 还在来自两车道感测系统的数据之间计算线性回归关系，并且在对来自两车道的车道信息执行融合计算之前，将比例因子和偏移值应用于来自第二车道感测系统的车道信息 传感系统。
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107.发明授权Methods and apparatus of fusing radar/camera object data and LiDAR scan points 有权融合雷达/摄像机对象数据和LiDAR扫描点的方法和装置公开(公告)号：US09128185B2
公开(公告)日：2015-09-08
申请号：US13789412
申请日：2013-03-07
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng
CPC classification number: G01S17/87 , G01S17/023 , G01S17/66 , G01S17/936
Abstract: A system and method for fusing the outputs from multiple LiDAR sensors on a vehicle that includes cueing the fusion process in response to an object being detected by a radar sensor and/or a vision system. The method includes providing object files for objects detected by the LiDAR sensors at a previous sample time, where the object files identify the position, orientation and velocity of the detected objects. The method projects object models in the object files from the previous sample time to provide predicted object models. The method also includes receiving a plurality of scan returns from objects detected in the field-of-view of the sensors at a current sample time and constructing a point cloud from the scan returns. The method then segments the scan points in the point cloud into predicted scan clusters, where each cluster identifies an object detected by the sensors.
Abstract translation: 一种用于将来自车辆上的多个LiDAR传感器的输出进行融合的系统和方法，其包括响应于由雷达传感器和/或视觉系统检测到的物体来引导融合过程。 该方法包括为先前采样时间的LiDAR传感器检测到的物体提供目标文件，其中目标文件识别被检测物体的位置，方位和速度。 该方法从上一个采样时间对象文件中的对象模型进行投影，以提供预测对象模型。 该方法还包括在当前采样时间从传感器的视场中检测到的物体接收多个扫描返回，并从扫描返回构建点云。 然后，该方法将点云中的扫描点分段为预测的扫描簇，其中每个簇识别由传感器检测到的对象。
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108.发明申请PATH PLANNING FOR EVASIVE STEERING MANEUVER IN PRESENCE OF TARGET VEHICLE AND SURROUNDING OBJECTS 有权目标车辆和周边物体存在的有效转向手段的路径规划公开(公告)号：US20150120137A1
公开(公告)日：2015-04-30
申请号：US14065235
申请日：2013-10-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Nikolai K. Moshchuk , Rouhollah Jafari
IPC: B62D6/00
CPC classification number: B62D6/00 , B60R21/0134 , B60W10/20 , B60W30/09 , B60W30/095 , B60W2420/52 , B62D15/0265 , G01S13/931 , G01S2013/9342 , G01S2013/9353 , G05D1/02 , G05D1/024
Abstract: A method for calculating a virtual target path around a target object that includes providing scan points identifying detected objects and separating the scan points into target object scan points and other object scan points. The method identifies a closest scan point from the target object scan points and identifies a path point that is a predetermined safe distance from the closest scan point. The method determines a straight target line adjacent to the target object that goes through the path point, and determines a distance between the target line and each of the other objects and determines whether all of the distances are greater than a predetermined threshold distance. The method identifies curve points for each other object whose distance is less than the predetermined threshold distance, and identifies a curve path that connects the curve points to be the virtual target path using a quadratic polynomial function.
Abstract translation: 一种用于计算目标对象周围的虚拟目标路径的方法，包括提供识别检测到的对象的扫描点并将扫描点分离为目标对象扫描点和其他对象扫描点。 该方法从目标对象扫描点识别最近的扫描点，并识别距离最近的扫描点预定安全距离的路径点。 该方法确定与目标对象相邻的直线目标线，该直线目标线通过路径点，并且确定目标线与每个其它对象之间的距离，并且确定所有距离是否大于预定阈值距离。 该方法识别距离小于预定阈值距离的每个对象的曲线点，并且使用二次多项式函数来识别将曲线点连接成虚拟目标路径的曲线路径。
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公开(公告)号：US20150081211A1
公开(公告)日：2015-03-19
申请号：US14028709
申请日：2013-09-17
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Jeremy A. Salinger , Bakhtiar B. Litkouhi , Joel Pazhayampallil , Kevin A. O'Dea , James N. Nickolaou , Mark E. Shields
IPC: G01C21/30 , B60W30/095 , B60W30/12 , G05D1/02 , G01S13/93
CPC classification number: G01C21/30 , B60W30/0956 , B60W30/12 , G01C21/3602 , G01S5/16 , G01S13/06 , G01S13/931 , G01S19/42 , G01S19/48 , G01S2013/9357 , G05D1/0212
Abstract: A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.
Abstract translation: 一种用于在数字地图中定位车辆的方法和系统包括在行进路面上生成车辆的GPS坐标，并且从数据库中根据GPS坐标的位置从数据库中检索由车辆行驶的区域的数字地图。 数字地图包括旅行的道路和注册的路边物体的地理地图。 通过纵向和横向坐标在数字地图中确定注册的路边物体。 旅行区域的路边物体被车辆感知。 感测到的路边物体在数字地图上被识别。 使用在数字地图中识别的感测到的路边物体的坐标来确定行进路面上的车辆位置。 根据所感测的路边物体的坐标，车辆的位置作为GPS坐标和确定的车辆位置的函数被定位在道路中。
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公开(公告)号：US12263850B2
公开(公告)日：2025-04-01
申请号：US18154101
申请日：2023-01-13
Applicant: GM Global Technology Operations LLC
Inventor： Shuqing Zeng , Praneeth Nelapati
Abstract: A radar signal processing method for improved occupant vital monitoring includes a method for detecting vital signs using at least one radar sensor mounted to a vehicle. The method includes detecting a plurality of target candidates using the at least one radar sensor, analyzing the plurality of target candidates to generate a list of targets, steering the at least one radar sensor towards the target using the angle of arrival to the target, and detecting a vital signal of the target based on the range using the at least one radar sensor.
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