公开(公告)号：US20190106085A1

公开(公告)日：2019-04-11

申请号：US15728677

申请日：2017-10-10

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Brent N. Bacchus ,  Shuqing Zeng ,  Jinsong Wang ,  Upali P. Mudalige ,  Norman J. Weigert ,  Rana Dastgir ,  Michael D. Alarcon

IPC: B60S1/56 ,  B60S1/54 ,  B60S1/46 ,  B60S1/04 ,  B60S1/62

Abstract: Methods and apparatus are provided for cleaning a sensor lens cover for an optical vehicle sensor. The method includes monitoring the sensor lens cover for a contaminant obstructing at least a portion of the sensor lens cover and determining the presence of the commandant and a contaminant type using information provided by one or more vehicle sensors. A cleaning modality selected based the contaminant type is activated and it is determined whether the cleaning modality has removed the contaminant from the sensor lens cover.

公开(公告)号：US20190026597A1

公开(公告)日：2019-01-24

申请号：US15658138

申请日：2017-07-24

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Wei Tong ,  Upali P. Mudalige

IPC: G06K9/62 ,  G06K9/00 ,  G06N3/04 ,  G06N3/08 ,  G05D1/00 ,  G05D1/02 ,  H04L29/08

CPC classification number: G06K9/629 ,  G05D1/0088 ,  G05D1/0231 ,  G05D1/0246 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/6256 ,  G06K9/6277 ,  G06N3/04 ,  G06N3/0454 ,  G06N3/08 ,  G06N3/084 ,  H04L67/12

Abstract: Methods and apparatus are provided for controlling an autonomous vehicle. A sensor fusion system with a sensor system for providing environment condition information and a convolutional neural network (CNN) is provided. The CNN includes a receiving interface configured to receive the environment condition information from the sensor system, a common convolutional layer configured to extract traffic information from the received environment condition information, and a plurality of fully connected layers configured to detect objects belonging to different object classes based on the extracted traffic information, wherein the object classes include at least one of a road feature class, a static object class, and a dynamic object class.

公开(公告)号：US10024955B2

公开(公告)日：2018-07-17

申请号：US14229178

申请日：2014-03-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Xiaofeng Frank Song ,  Shuqing Zeng

IPC: G01S7/497 ,  G01S7/40 ,  G01S7/52 ,  G01S13/93 ,  G01S15/93 ,  G01S17/93 ,  G01S13/86

Abstract: Methods and systems for determining a misalignment angle for a sensor in a vehicle are provided. The method, for example, may include, but is not limited to determining, by a processor, when an object detected in sensor data acquired by the sensor is a stationary object, and calculating, by the processor, the misalignment angle of the sensor based upon sensor data associated with the stationary object.

公开(公告)号：US09983306B2

公开(公告)日：2018-05-29

申请号：US14980327

申请日：2015-12-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Wende Zhang ,  Mark E. Shields

IPC: G01S13/93 ,  G01S7/40 ,  G01S13/87 ,  G01S7/41 ,  G01S13/00

CPC classification number: G01S13/931 ,  G01S7/40 ,  G01S7/41 ,  G01S13/87 ,  G01S2007/4039 ,  G01S2013/9346 ,  G01S2013/9375

Abstract: A system and method for providing target selection and threat assessment for vehicle collision avoidance purposes that employ probability analysis of radar scan returns. The system determines a travel path of a host vehicle and provides a radar signal transmitted from a sensor on the host vehicle. The system receives multiple scan return points from detected objects, processes the scan return points to generate a distribution signal defining a contour of each detected object, and processes the scan return points to provide a position, a translation velocity and an angular velocity of each detected object. The system selects the objects that may enter the travel path of the host vehicle, and makes a threat assessment of those objects by comparing a number of scan return points that indicate that the object may enter the travel path to the number of the scan points that are received for that object.

公开(公告)号：US09930323B2

公开(公告)日：2018-03-27

申请号：US14259470

申请日：2014-04-23

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Xiaofeng F. Song

IPC: H04N17/00 ,  H04N17/02 ,  G06T7/00 ,  G06T7/80 ,  G06K9/32 ,  G06K9/00

CPC classification number: H04N17/002 ,  G06K9/00798 ,  G06K9/32 ,  G06T7/0002 ,  G06T7/80 ,  G06T2207/20076 ,  G06T2207/30168 ,  G06T2207/30256

Abstract: A method of diagnosing a state of health of a vision-based lane sensing system. A first misalignment factor is calculated as a function of a vehicle lateral offset and a vehicle heading. A second misalignment factor is calculated as a function of a vehicle speed, an estimated curvature of an expected path of travel, a lane curvature, and the vehicle heading. Histograms are generated for the first and second misalignment factors. A probability of a state of health is determined. A determination is made whether the probability of the state of health is within a predetermined threshold. An angle misalignment of the vision system is estimated. The angle misalignment of the vision system is corrected in response to the determination that the probability of the state of health is within the predetermined threshold; otherwise a warning of a faulty lane sensing system is actuated.

公开(公告)号：US09834207B2

公开(公告)日：2017-12-05

申请号：US14253090

申请日：2014-04-15

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kevin A. O'Dea ,  Shuqing Zeng ,  James N. Nickolaou ,  Bradley Hamner

IPC: B60W30/02 ,  B60W30/12 ,  B60W30/14 ,  G01S13/93 ,  G01S13/72 ,  G01S13/87 ,  G01S13/86

CPC classification number: B60W30/02 ,  B60W30/12 ,  B60W30/14 ,  G01S13/726 ,  G01S13/867 ,  G01S13/87 ,  G01S13/931 ,  G01S2013/9353 ,  G01S2013/9367 ,  G01S2013/9375

Abstract: A system and method for selectively reducing or filtering data provided by one or more vehicle mounted sensors before using that data to detect, track and/or estimate a stationary object located along the side of a road, such as a guardrail or barrier. According to one example, the method reduces the amount of data by consolidating, classifying and pre-sorting data points from several forward looking radar sensors before using those data points to determine if a stationary roadside object is present. If the method determines that a stationary roadside object is present, then the reduced or filtered data points can be applied to a data fitting algorithm in order to estimate the size, shape and/or other parameters of the object. In one example, the output of the present method is provided to automated or autonomous driving systems.

公开(公告)号：US20170300763A1

公开(公告)日：2017-10-19

申请号：US15486638

申请日：2017-04-13

Applicant: GM Global Technology Operations LLC

Inventor： Guangyu J. Zou ,  Jinsong Wang ,  Upali P. Mudalige ,  Shuqing Zeng

IPC: G06K9/00 ,  H04N5/265 ,  H04N5/232 ,  G06K9/62 ,  G01S19/31 ,  G06K9/46 ,  H04N7/18 ,  G06N3/08 ,  B60R11/04 ,  B60R11/00

CPC classification number: G06K9/00798 ,  B60R1/00 ,  B60R11/04 ,  B60R2011/004 ,  B60R2300/301 ,  B60R2300/303 ,  B60R2300/307 ,  B60R2300/602 ,  B60R2300/607 ,  G06K9/4628 ,  G06K9/6271 ,  G06N10/00 ,  H04N5/23238 ,  H04N5/247 ,  H04N7/181

Abstract: Examples of techniques for road feature detection using a vehicle camera system are disclosed. In one example implementation, a computer-implemented method includes receiving, by a processing device, an image from a camera associated with a vehicle on a road. The computer-implemented method further includes generating, by the processing device, a top view of the road based at least in part on the image. The computer-implemented method further includes detecting, by the processing device, lane boundaries of a lane of the road based at least in part on the top view of the road. The computer-implemented method further includes detecting, by the processing device, a road feature within the lane boundaries of the lane of the road using machine learning.

公开(公告)号：US09647325B2

公开(公告)日：2017-05-09

申请号：US14473547

申请日：2014-08-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kevin Geary ,  Joseph S. Colburn ,  Daniel J. Gregoire ,  Hooman Kazemi ,  Shuqing Zeng

IPC: H01Q1/32 ,  G01S7/03 ,  G01S13/93 ,  H01Q1/40 ,  H01Q21/06 ,  H01Q21/20

CPC classification number: H01Q1/3233 ,  G01S7/03 ,  G01S13/931 ,  G01S2013/9371 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9392 ,  G01S2013/9396 ,  H01Q1/40 ,  H01Q21/065 ,  H01Q21/20

Abstract: A flexible, printable antenna for automotive radar. The antenna can be printed onto a thin, flexible substrate, and thus can be bent to conform to a vehicle body surface with compound curvature. The antenna can be mounted to the interior of a body surface such as a bumper fascia, where it cannot be seen but can transmit radar signals afield. The antenna can also be mounted to and blended into the exterior of an inconspicuous body surface, or can be made transparent and mounted to the interior or exterior of a glass surface. The antenna includes an artificial impedance surface which is tailored based on the three-dimensional shape of the surface to which the antenna is mounted and the desired radar wave pattern. The antenna can be used for automotive collision avoidance applications using 22-29 GHz or 76-81 GHz radar, and has a large aperture to support high angular resolution of radar data.

公开(公告)号：US20170097411A1

公开(公告)日：2017-04-06

申请号：US14876134

申请日：2015-10-06

Applicant: GM Global Technology Operations LLC

Inventor： Dan Levi ,  Shuqing Zeng ,  Igal Bilik

IPC: G01S13/58 ,  G01S7/40 ,  G01S13/42 ,  G01S13/86

CPC classification number: G01S13/58 ,  G01S7/40 ,  G01S13/42 ,  G01S13/867 ,  G01S13/931

Abstract: A method of determining velocity of a target and a fusion system on a moving platform to determine the velocity of the target are described. The method includes obtaining, using a radar system, position and radial velocity of the target relative to the moving platform, obtaining, using a vision system, optical flow vectors based on motion of the target relative to the moving platform, and estimating a dominant motion vector of the target based on the optical flow vectors. The method also includes processing the position, the radial velocity, and the dominant motion vector and determining the velocity of the target in two dimensions.

公开(公告)号：US09435653B2

公开(公告)日：2016-09-06

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 ,  G01S13/93 ,  G05D1/02 ,  G01C21/36 ,  G01S13/06 ,  G01S19/48 ,  G01S5/16

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。