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公开(公告)号：US20250148639A1
公开(公告)日：2025-05-08
申请号：US18500395
申请日：2023-11-02
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
IPC: G06T7/73 , G06V10/44 , G06V10/762 , G06V20/56
Abstract: A method of performing a camera to ground alignment for a camera system on a vehicle. The method includes determining if enabling conditions have occurred and estimating a location of a vanishing point in a source image. Ground lines are selected based on a source image. A lane line detection is performed based on clustering of the ground lines to determine lane lines in the source image. At least one of pitch, yaw, or roll of the vehicle are estimated from the source image. A cost function based on estimates of pitch, yaw, and roll is minimized to obtain an optimal pitch value, an optimal yaw value, an optimal roll value, and lane lines from the source image. A sliding window-based refinement is performed on source images. Alignment results are broadcast to a downstream application or it is determined if the camera system on the vehicle is misaligned.
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公开(公告)号：US12130390B2
公开(公告)日：2024-10-29
申请号：US17569948
申请日：2022-01-06
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Yao Hu , Wende Zhang , Hao Yu
IPC: G01S7/497 , B60W60/00 , G01S17/86 , G01S17/89 , G01S17/931
CPC classification number: G01S7/4972 , B60W60/00 , G01S17/86 , G01S17/89 , G01S17/931 , B60W2420/408
Abstract: A LIDAR-to-vehicle alignment system includes a memory and alignment and autonomous driving modules. The memory stores points of data provided based on an output of one or more LIDAR sensors and localization data. The alignment module performs an alignment process including: based on the localization data; determining whether a host vehicle is turning; in response to the host vehicle turning; selecting a portion of the points of data; aggregating the selected portion to provide aggregated data; selecting targets based on the aggregated data; and based on the selected targets, iteratively reducing a loss value of a loss function to provide a resultant LIDAR-to-vehicle transformation matrix. The autonomous driving module: based on the resultant LIDAR-to-vehicle transformation matrix, converts at least the selected portion to at least one of vehicle coordinates or world coordinates to provide resultant data; and performs one or more autonomous driving operations based on the resultant data.
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公开(公告)号：US20240312058A1
公开(公告)日：2024-09-19
申请号：US18183406
申请日：2023-03-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G01S17/89 , G06T7/13 , G06T7/50 , G06T7/70 , G06T2207/10028 , G06T2207/20084 , G06T2207/30252
Abstract: A sensor alignment method including detecting, detecting an object within a first sensor field of view and a second sensor field of view, detecting a plurality of depth point clouds of the first field of view in response to the object being stationary, the host vehicle being stationary, and the distance between the object and the host vehicle being less than a threshold distance, aggregating the plurality of depth point clouds into an aggregated depth point cloud, detecting a first location of an edge of the object in response to the aggregated depth point cloud, detecting a second location of the edge of the object using an edge detection algorithm on the image, generating a lidar to camera alignment in response to a difference between the first location and the second location.
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公开(公告)号：US12094169B2
公开(公告)日：2024-09-17
申请号：US17651407
申请日：2022-02-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G06T7/73 , G06V10/22 , G06V10/40 , G06T2207/30244 , G06T2207/30252
Abstract: Systems and methods for a vehicle are provided. In one embodiment, a 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 based on a fixed two dimensional image road mask and a three dimensional region; 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, 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.
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公开(公告)号：US12086996B2
公开(公告)日：2024-09-10
申请号：US17567365
申请日：2022-01-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Yao Hu , Binbin Li , Hao Yu , Wende Zhang
IPC: G06T7/00 , B60W10/04 , B60W10/18 , B60W10/20 , G01S17/89 , G01S17/931 , G06T7/246 , G06T7/33 , G06T7/55 , G06T7/80 , G06V20/56 , H04N5/262 , H04N23/90
CPC classification number: G06T7/33 , B60W10/04 , B60W10/18 , B60W10/20 , G01S17/89 , G01S17/931 , G06T7/246 , G06T7/55 , G06T7/80 , G06V20/56 , H04N5/2625 , H04N23/90 , B60W2420/403 , B60W2420/408 , B60W2552/35 , G06T2207/10028 , G06T2207/20212 , G06T2207/30252
Abstract: A vehicle control system including a spatial monitoring system includes on-vehicle cameras that capture images, from which are recovered a plurality of three-dimensional points. A left ground plane normal vector is determined for a left image, a center ground plane normal vector is determined for a front image, and a right ground plane normal vector is determined for a right image. A first angle difference between the left ground plane normal vector and the center ground plane normal vector is determined, and a second angle difference between the right ground plane normal vector and the center ground plane normal vector is determined. An uneven ground surface is determined based upon one of the first angle difference or the second angle difference, and an alignment compensation factor for the left camera or the right camera is determined. A bird's eye view image is determined based upon the alignment compensation factor.
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Patent Agency Ranking
公开(公告)号：US11892574B2
公开(公告)日：2024-02-06
申请号：US16944253
申请日：2020-07-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef A. Omar , Hao Yu , Wende Zhang
IPC: G01S7/497 , G01S17/86 , G01S17/931 , G06T7/70
CPC classification number: G01S7/4972 , G01S17/86 , G01S17/931 , G06T7/70
Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a controller onboard the vehicle, lidar data from the lidar device; receiving, by the controller, image data from the camera device; computing, by the controller, an edge map based on the lidar data; computing, by the controller, an inverse distance transformation (IDT) edge map based on the image data; aligning, by the controller, points of the IDT edge map with points of the lidar edge map to determine extrinsic parameters; storing, by the controller, extrinsic parameters as calibrations in a data storage device; and controlling, by the controller, the vehicle based on the stored calibrations.
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公开(公告)号：US11869351B2
公开(公告)日：2024-01-09
申请号：US17470454
申请日：2021-09-09
Applicant: GM Global Technology Operations LLC
Inventor： Wende Zhang , Esther Anderson , Robert A. Dziurda , Mark T. Gaylord
CPC classification number: G08G1/09626 , G06F18/251 , G06N20/20 , G06T11/00 , G06V20/41 , G06V20/56 , H04N5/76 , G06V20/44
Abstract: Examples described herein provide a computer-implemented method that includes receiving first data from a sensor of a vehicle. The method further includes determining, by a processing device, whether an incident external to the vehicle has occurred by processing the first data using a machine learning model. The method further includes, responsive to determining that an incident external to the vehicle has occurred, initiating recording of second data by the sensor. The method further includes, responsive to determining that an incident external to the vehicle has occurred, taking an action to control the vehicle.
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公开(公告)号：US11836990B2
公开(公告)日：2023-12-05
申请号：US17655531
申请日：2022-03-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef Omar , Mark Wolski , Hao Yu , Wende Zhang
CPC classification number: G06V20/58 , B60W40/10 , B60W40/12 , G06T7/13 , G06T7/30 , G06T7/55 , B60W2420/42 , B60W2420/52
Abstract: Systems and methods for generating alignment parameters for processing data associated with a vehicle. In one embodiment, a method includes: receiving image data associated with an environment of the vehicle; receiving lidar data associated with the environment of the vehicle; processing, by a processor, the image data to determine data points associated with at least one vehicle identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one vehicle identified within the lidar data; selectively storing the data points in a data buffer based on at least one condition associated with a quality of the data points; processing, by the processor, the data points in the data buffer with a joint analysis method to generate alignment parameters between the lidar and the camera; and processing future data based on the alignment parameters.
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公开(公告)号：US20230221942A1
公开(公告)日：2023-07-13
申请号：US17647524
申请日：2022-01-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wende Zhang , Esther Anderson , Mark T Gaylord , Robert A Dziurda
CPC classification number: G06F8/65 , G06F8/71 , G06K9/6277 , G06K9/6257
Abstract: Vehicles and related systems and methods are provided for classifying detected objects in a location-dependent manner using localized models in a federated learning environment. A method involves obtaining sensor data for a detected object external to the vehicle from a sensor of a vehicle, obtaining location data associated with the detected object, obtaining a local classification model associated with an object type, assigning the object type to the detected object based on an output by the local classification model as a function of the sensor data and the location data using the local classification model, and initiating an action at the vehicle responsive to assigning the object type to the detected object.
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110.发明申请公开(公告)号：US20230126100A1
公开(公告)日：2023-04-27
申请号：US17511959
申请日：2021-10-27
Applicant: GM Global Technology Operations LLC
Inventor： Kamran Ali , Wende Zhang , Fan Bai
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.
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