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公开(公告)号：US10859673B2
公开(公告)日：2020-12-08
申请号：US16177799
申请日：2018-11-01
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Brent N. Bacchus , Shuqing Zeng , Stephen W. Decker
IPC: G01S7/40 , G01S13/89 , G01S13/86 , G01S13/66 , G01S13/08 , G01S13/87 , G01S13/58 , G05D1/02 , G05D1/00
Abstract: A disambiguating system for disambiguating between ambiguous detections is provided. The system includes a plurality of modules, wherein each module is configured to disambiguate between ambiguous detections by selecting, as a true detection, one candidate detection in a set of ambiguous detections and wherein each module is configured to apply a different selection technique. The system includes: one or more modules configured to select as the true detection, the candidate detection whose associated position is closer to a position indicated by other data and one or more modules configured to select as the true detection, the candidate detection with the highest probability of being true based on other sensor data.
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公开(公告)号：US20200311481A1
公开(公告)日：2020-10-01
申请号：US16367590
申请日：2019-03-28
Applicant: GM Global Technology Operations LLC
Inventor： Wei Tong , Shuqing Zeng , Upali P. Mudalige
Abstract: Systems and methods to generate an adversarial attack on a black box object detection algorithm of a sensor involve obtaining an initial training data set from the black box object detection algorithm. The black box object detection algorithm performs object detection on initial input data to provide black box object detection algorithm output that provides the initial training data set. A substitute model is trained with the initial training data set such that output from the substitute model replicates the black box object detection algorithm output that makes up the initial training data set. Details of operation of the black box object detection algorithm are unknown and details of operation of the substitute model are known. The substitute model is used to perform the adversarial attack. The adversarial attack refers to identifying adversarial input data for which the black box object detection algorithm will fail to perform accurate detection.
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公开(公告)号：US20200160125A1
公开(公告)日：2020-05-21
申请号：US16193303
申请日：2018-11-16
Applicant: GM Global Technology Operations LLC
Inventor： Shige Wang , Wei Tong , Shuqing Zeng , Roman L. Millett
Abstract: A signal processing system includes a central processing unit (CPU) in communication with an accelerator, and an instruction scheduler in communication with the accelerator. A first memory device including a first instruction set is configured to operate the accelerator, a second instruction set is configured to operate the CPU, and a second memory device is configured to receive a datafile. The accelerator includes a plurality of processing engines (PEs) and an instruction scheduler, the instruction set includes a plurality of operators, and the instruction scheduler is configured to implement the operators in the accelerator employing the PEs. The CPU employs the operators implemented in the accelerator to analyze the datafile to extract a feature therefrom.
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公开(公告)号：US10600257B2
公开(公告)日：2020-03-24
申请号：US15688467
申请日：2017-08-28
Applicant: GM Global Technology Operations LLC
Inventor： Shengbing Jiang , Mutasim A. Salman , Xinyu Du , Wen-Chiao Lin , Jinsong Wang , Shuqing Zeng
Abstract: An autonomic vehicle control system is described, and includes a vehicle spatial monitoring system including a subject spatial sensor that is disposed to monitor a spatial environment proximal to the autonomous vehicle. A controller is in communication with the subject spatial sensor, and the controller includes a processor and a memory device including an instruction set. The instruction set is executable to evaluate the subject spatial sensor, which includes determining first, second, third, fourth and fifth SOH (state of health) parameters associated with the subject spatial sensor, and determining an integrated SOH parameter for the subject spatial sensor based thereupon.
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公开(公告)号：US10592784B2
公开(公告)日：2020-03-17
申请号：US15900206
申请日：2018-02-20
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Wei Tong , Yasen Hu , Mohannad Murad , David R. Petrucci , Gregg R. Kittinger
Abstract: A system and method to perform detection based on sensor fusion includes obtaining data from two or more sensors of different types. The method also includes extracting features from the data from the two or more sensors and processing the features to obtain a vector associated with each of the two or more sensors. The method further includes concatenating the two or more vectors obtained from the two or more sensors to obtain a fused vector, and performing the detection based on the fused vector.
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Patent Agency Ranking
公开(公告)号：US20190361456A1
公开(公告)日：2019-11-28
申请号：US15988658
申请日：2018-05-24
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Wei Tong , Upali P. Mudalige
Abstract: Systems and methods are provided for controlling an autonomous vehicle (AV). A map generator module processes sensor data to generate a world representation of a particular driving scenario (PDS). A scene understanding module (SUM) processes navigation route data, position information and a feature map to define an autonomous driving task (ADT), and decomposes the ADT into a sequence of sub-tasks. The SUM selects a particular combination of sensorimotor primitive modules (SPMs) to be enabled and executed for the PDS. Each one of the SPMs addresses a sub-task in the sequence. A primitive processor module executes the particular combination of the SPMs such that each generates a vehicle trajectory and speed (VTS) profile. A selected one of the VTS profiles is then processed to generate the control signals, which are then processed at a low-level controller to generate commands that control one or more of actuators of the AV
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公开(公告)号：US10395144B2
公开(公告)日：2019-08-27
申请号：US15658138
申请日：2017-07-24
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Wei Tong , Upali P. Mudalige
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.
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公开(公告)号：US10373000B2
公开(公告)日：2019-08-06
申请号：US15677649
申请日：2017-08-15
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wei Tong , Qingrong Zhao , Shuqing Zeng , Bakhtiar B. Litkouhi
Abstract: A method of identifying a condition of a road surface includes capturing at least a first image of the road surface with a first camera, and a second image of the road surface with a second camera. The first image and the second image are tiled together to form a combined tile image. A feature vector is extracted from the combined tile image using a convolutional neural network, and a condition of the road surface is determined from the feature vector using a classifier.
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公开(公告)号：US20190228504A1
公开(公告)日：2019-07-25
申请号：US15878937
申请日：2018-01-24
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wei Tong , Shuqing Zeng , Upali P. Mudalige
Abstract: A system and method for generating a range image using sparse depth data is disclosed. The method includes receiving, by a controller, image data of a scene. The image data includes a first set of pixels. The method also includes receiving, by the controller, a sparse depth data of the scene. The sparse depth data includes a second set of pixels, and the number of the second set of pixels is less than the number of first set of pixels. The method also includes combining the image data and the sparse depth data into a combined data. The method also includes generating a range image using the combined data.
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公开(公告)号：US10354368B2
公开(公告)日：2019-07-16
申请号：US15664645
申请日：2017-07-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Mohammad Naserian , Shuqing Zeng , Allan Lewis
IPC: G06T5/00
Abstract: A method and apparatus for determining ground clearance of a structure are provided. The method includes removing reflection points caused by noise from first reflection point information based on temporal persistency and generating second reflection point information, extracting visual features from an image of a camera based on convolutional neural network, projecting the second reflection point information onto the image, generating region proposals based on the projected second reflection point information and the image, the region proposals indicating potential horizontal structures above a path, detecting stationary horizontal structure above a path based on the generated region proposals, and determining distance between ground and the detected stationary horizontal structure based on the projected reflection point information and the image.
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