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公开(公告)号：US20190147744A1
公开(公告)日：2019-05-16
申请号：US15812422
申请日：2017-11-14
Applicant: GM Global Technology Operations LLC
Inventor： Donald K. Grimm , Shuqing Zeng , Upali P. Mudalige , Robert A. Bordo , Perry L. Maniaci
Abstract: Technical solutions are described for vehicle collision prevention for a vehicle when the vehicle is in a parked condition. An example method includes performing a stationary safety monitoring when the vehicle is in parked condition. The stationary safety monitoring includes detecting presence of a moving object within a predetermined region from the vehicle. Further, the method includes, in response to detecting the moving object in the predetermined region initiating a notification for the moving object to prevent collision with the vehicle.
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公开(公告)号：US20190065878A1
公开(公告)日：2019-02-28
申请号：US15683144
申请日：2017-08-22
Applicant: GM Global Technology Operations LLC
Inventor： Shuqing Zeng , Igal Bilik , Shahar Villeval , Yasen Hu
Abstract: A system and method to fuse a radar system and a vision sensor system include obtaining radar reflections resulting from transmissions of radio frequency (RF) energy. The method includes obtaining image frames from one or more vision sensor systems, and generating region of interest (ROI) proposals based on the radar reflections and the image frames. Information is provided about objects detected based on the ROI proposals.
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公开(公告)号：US20190064823A1
公开(公告)日：2019-02-28
申请号：US15688451
申请日：2017-08-28
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shengbing Jiang , Mutasim A. Salman , Yilu Zhang , Shuqing Zeng
Abstract: An autonomic vehicle control system includes a perception module of a spatial monitoring system that is disposed to monitor a spatial environment proximal to the autonomous vehicle. A method for evaluating vehicle dynamics operation includes determining a desired trajectory for the autonomous vehicle, wherein the desired trajectory includes desired vehicle positions including an x-position, a y-position and a heading. Vehicle control commands are determined based upon the desired trajectory, and include a commanded steering angle, an acceleration command and a braking command. Actual vehicle states responsive to the vehicle control commands are determined. An estimated trajectory is determined based upon the actual vehicle states, and a trajectory error is determined based upon a difference between the desired trajectory and the estimated trajectory. The trajectory error is monitored over a time horizon, and a first state of health (SOH) is determined based upon the trajectory error over the time horizon.
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公开(公告)号：US10146224B2
公开(公告)日：2018-12-04
申请号：US15347546
申请日：2016-11-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Sayyed Rouhollah Jafari Tafti , Shuqing Zeng
Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes receiving vehicle and object environment data. A search graph is generated based upon the received data. The search graph contains a grid of points for locating objects and is used to determine a desired trajectory for the vehicle.
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公开(公告)号：US20180216395A1
公开(公告)日：2018-08-02
申请号：US15420137
申请日：2017-01-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Mohammad Naserian , Allan Lewis , Shuqing Zeng
CPC classification number: E05F15/70 , B60J5/101 , B60Q1/0023 , B60Q1/2661 , B60Q1/30 , B60Q1/323 , E05F15/40 , E05F2015/434 , E05Y2400/44 , E05Y2400/45 , E05Y2400/54 , E05Y2900/532 , E05Y2900/546
Abstract: A method and apparatus for controlling movement of a liftgate are provided. The method includes: capturing an image of a pattern on a surface; determining a distance between the liftgate and the surface based on the image of the pattern; and controlling a movement of the liftgate based on the determined distance.
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Patent Agency Ranking
公开(公告)号：US09970772B2
公开(公告)日：2018-05-15
申请号：US15176419
申请日：2016-06-08
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 , G01S19/42 , 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 for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. 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 earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.
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公开(公告)号：US09784829B2
公开(公告)日：2017-10-10
申请号：US14679998
申请日：2015-04-06
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Xiaofeng Frank Song
CPC classification number: G01S13/723 , G01S7/40 , G01S7/4004 , G01S7/411 , G01S7/415 , G01S13/867 , G01S13/878 , G01S13/931 , G01S2013/9342 , G01S2013/9346
Abstract: A method and system are disclosed for tracking a remote vehicle which is driving in a lateral position relative to a host vehicle. Target data from two radar sensors are provided to an object detection fusion system. Wheels on the remote vehicle are identified as clusters of radar points with essentially the same location but substantially varying Doppler range rate values. If both wheels on the near side of the remote vehicle can be identified, a fusion calculation is performed using the wheel locations measured by both radar sensors, yielding an accurate estimate of the position, orientation and velocity of the remote vehicle. The position, orientation and velocity of the remote vehicle are used to trigger warnings or evasive maneuvers in a Lateral Collision Prevention (LCP) system. Radar sensor alignment can also be calibrated with an additional fusion calculation based on the same wheel measurement data.
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178.发明授权公开(公告)号：US09645250B2
公开(公告)日：2017-05-09
申请号：US14680894
申请日：2015-04-07
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , David M. Sidlosky , David W. Doerr
CPC classification number: G01S19/52 , G01S7/42 , G01S13/588 , G01S13/86 , G01S19/42 , G08G1/0104
Abstract: A method for providing redundant vehicle speed estimation. The method includes providing sensor output signals from a plurality of primary sensors and providing inertial measurement signals from an inertial measurement unit. The method also includes estimating the vehicle speed in a primary module using the primary sensor signals, and buffering the estimated vehicle speed values from the primary module for a predetermined period of time. The method further includes determining that one or more of the primary sensors or the primary module has failed, and if so, estimating the vehicle speed in a secondary module using the buffered vehicle speed values and the inertial measurement signals. The method can use GPS signal data and/or range data from static objects to improve the estimated vehicle speed in the secondary module if they are available.
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公开(公告)号：US20160378118A1
公开(公告)日：2016-12-29
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.
Abstract translation: 一种用于通过人机界面（HMI）辅助的视觉伺服过程来自动地将牵引车上的牵引牵引球和拖车上的拖车牵引杆对准的方法。 该方法包括从后视摄像机提供后视图像。 该方法包括在显示器上触摸拖球，以将拖曳球的位置注册在图像中并且在显示器上接触牵引杆以登记目标的位置，其中拖曳球将与牵引杆正确对准。 该方法提供围绕图像上的目标的模板图案，并且自动地移动车辆，使得拖曳球朝向目标移动。 当车辆移动时，该方法预测目标的新位置，并通过将先前的模板模式与预测位置周围的图像补丁进行比较来识别车辆移动时的新图像中的目标。
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180.发明申请FAIL OPERATIONAL VEHICLE SPEED ESTIMATION THROUGH DATA FUSION OF 6-DOF IMU, GPS, AND RADAR 有权6自由度IMU，GPS和雷达的数据融合失败的运行车速估计公开(公告)号：US20160299234A1
公开(公告)日：2016-10-13
申请号：US14680894
申请日：2015-04-07
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , David M. Sidlosky , David W. Doerr
CPC classification number: G01S19/52 , G01S7/42 , G01S13/588 , G01S13/86 , G01S19/42 , G08G1/0104
Abstract: A method for providing redundant vehicle speed estimation. The method includes providing sensor output signals from a plurality of primary sensors and providing inertial measurement signals from an inertial measurement unit. The method also includes estimating the vehicle speed in a primary module using the primary sensor signals, and buffering the estimated vehicle speed values from the primary module for a predetermined period of time. The method further includes determining that one or more of the primary sensors or the primary module has failed, and if so, estimating the vehicle speed in a secondary module using the buffered vehicle speed values and the inertial measurement signals. The method can use GPS signal data and/or range data from static objects to improve the estimated vehicle speed in the secondary module if they are available.
Abstract translation: 一种用于提供冗余车速估计的方法。 该方法包括提供来自多个主传感器的传感器输出信号，并提供来自惯性测量单元的惯性测量信号。 该方法还包括使用主传感器信号来估计主模块中的车速，并且在预定时间段内缓冲来自主模块的估计车速值。 该方法还包括确定主传感器或主模块中的一个或多个已经失败，如果是，则使用缓冲的车速值和惯性测量信号来估计次级模块中的车速。 该方法可以使用来自静态对象的GPS信号数据和/或范围数据来改善辅助模块中的估计车辆速度（如果它们可用）。
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