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    METHODS AND SYSTEMS FOR BOWL VIEW STITCHING OF IMAGES
    111.
    发明申请
    METHODS AND SYSTEMS FOR BOWL VIEW STITCHING OF IMAGES 有权

    公开(公告)号：US20220121889A1

    公开(公告)日：2022-04-21

    申请号：US17072095

    申请日：2020-10-16

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Mohannad Murad ,  Wende Zhang ,  Kevin K. Hoang

    IPC: G06K9/62 ,  G06K9/00

    Abstract: A system and method are provided for aiding an operator in operating a vehicle. In one embodiment, a system includes a sensor system configured to generate sensor data sensed from an environment of the vehicle. The system further includes a control module configured to, by a processor, generate a bowl view image of the environment based on the sensor data, identify at least one of a double object and a missing object in the bowl view image, generate a second bowl view image of the environment by re-stitching the sensor data based on the at least one of double object and missing object, and generate display data based on the second bowl view image.

    DYNAMIC LIDAR TO CAMERA ALIGNMENT
    112.
    发明申请
    DYNAMIC LIDAR TO CAMERA ALIGNMENT 有权

    公开(公告)号：US20220035014A1

    公开(公告)日：2022-02-03

    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 ,  G01S17/931 ,  G01S17/86

    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.

    CALIBRATION FOR VEHICLE CAMERAS
    113.
    发明申请
    CALIBRATION FOR VEHICLE CAMERAS 审中-公开

    公开(公告)号：US20200380725A1

    公开(公告)日：2020-12-03

    申请号：US16423821

    申请日：2019-05-28

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Brian J. Hufnagel ,  Hao Yu ,  Wende Zhang

    IPC: G06T7/80 ,  H04N17/00

    Abstract: In various embodiments, methods and systems are provided for calibrating vehicle cameras. In certain embodiments, a method includes obtaining a plurality of camera images from the camera based on a target positioned at a plurality of locations relative to the vehicle, wherein the target includes a plurality of dots arranged in rows and columns according to a random spacing, wherein the target further includes a plurality of enlarged dots arranged in an L shaped pattern in relation to a center of the target; estimating, by a processor, at least one of intrinsic parameters and extrinsic parameters based on the plurality of camera images; and storing, by a processor and in a data storage device, the at least one of intrinsic parameters and extrinsic parameters as calibration parameters associated with the camera.

    METHOD AND APPARATUS FOR GENERATING SITUATION AWARENESS GRAPHS USING CAMERAS FROM DIFFERENT VEHICLES
    114.
    发明申请
    METHOD AND APPARATUS FOR GENERATING SITUATION AWARENESS GRAPHS USING CAMERAS FROM DIFFERENT VEHICLES 审中-公开

    公开(公告)号：US20190318041A1

    公开(公告)日：2019-10-17

    申请号：US15950917

    申请日：2018-04-11

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Fan Bai ,  Mohannad Murad ,  Joseph G. Machak ,  Wende Zhang

    IPC: G06F17/30 ,  B60W40/04 ,  G06K9/00 ,  H04W4/46 ,  G06K9/62

    Abstract: In various embodiments, methods, systems, and vehicles are provided that include obtaining first camera images from a first camera onboard a first vehicle; generating, via one or more computer processors, a first situation awareness graph with respect to objects near the first vehicle, using the first camera images; obtaining second camera images from a second camera of a second device that is in proximity to the first vehicle; generating, via one or more computer processors, a second situation awareness graph with the respect to the objects, using the second camera images; and generating, via one or more computer processor, a global situation awareness graph with respect to the objects, by merging the first situation awareness graph with the second situation awareness graph, using respective first and second weights for the first and second situation awareness graphs.

    Vehicle environment imaging systems and methods
    116.
    发明授权
    Vehicle environment imaging systems and methods 有权

    公开(公告)号：US10162360B2

    公开(公告)日：2018-12-25

    申请号：US15366948

    申请日：2016-12-01

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Xiujie Gao ,  Jinsong Wang ,  Wende Zhang ,  Paul E. Krajewski ,  Nancy L. Johnson ,  Timothy J. Canner ,  Donald K. Grimm

    IPC: G06F19/00 ,  G05D1/02 ,  B60K35/00 ,  B60R1/00

    Abstract: A vehicle includes at least one image capture device and a user display configured to display images receive from the at least one image capture device. The vehicle also includes a controller programmed to generate a user prompt to set a home vehicle position in response the vehicle entering a first parked state. The controller is also programmed to store at least one reference image indicative of an area in a vicinity of the vehicle corresponding to the home vehicle position. The controller is further programmed to collect a current image corresponding to a current vehicle position in response to a subsequent approach toward the vicinity, and compare the current image to the reference image. The controller is further programmed to generate a user display depicting the vicinity, the current vehicle position, and the home vehicle position.

    VEHICLE GUIDANCE SYSTEM
    120.
    发明申请
    VEHICLE GUIDANCE SYSTEM 审中-公开

    公开(公告)号：US20170322560A1

    公开(公告)日：2017-11-09

    申请号：US15492339

    申请日：2017-04-20

    Applicant: GM Global Technology Operations LLC

    Inventor： Wende Zhang ,  Adrienne M. Williamson ,  Esther Anderson ,  Jinsong Wang

    IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00 ,  G01C21/34 ,  H04N7/18 ,  H04L29/08

    Abstract: A vehicle guidance system facilitates maneuvering of an autonomous vehicle with respect to an object in a scene. The vehicle includes a steering apparatus having a range of angular positions and a multitude of actuators for controlling the dynamics of the vehicle. The system includes a steering angle sensor, a camera device, and a video processing module. The sensor is configured to monitor the angular position of the wheel. The device is configured to capture an original image of a scene having the object. The module is configured to receive and process the original image from the device, detect the object in the original image, receive and process the angular position from the sensor, generate a dynamic trajectory based on at least the angular position, orientate the dynamic trajectory with regard to the object, and operate at least one of the actuators to guide the vehicle along the dynamic trajectory.

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