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公开(公告)号：US20240385010A1
公开(公告)日：2024-11-21
申请号：US18318247
申请日：2023-05-16
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Bo Yu , Shuqing Zeng , Fan Bai , Joon Hwang , Vivek Vijaya Kumar , Mason David Gemar , Carl P. Darukhanavala
IPC: G01C21/00
Abstract: A system for fusing two or more versions of map data together includes one or more central computers that receive road network data representing a road network for a predefined geofenced area. The central computers compute a plurality of points that are each positioned at a predetermined distance from one another. The central computers create a plurality of bounding boxes for the road network based on the plurality of points and create a set of closest matched map data points for each bounding box that is part of the road network by executing a map-matching registration algorithm to align the two or more versions of map data with one another. The central computers execute a maximum likelihood estimation algorithm to determine probability distribution parameters of the set of closest matched map data points compared to the ground truth map data.
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公开(公告)号：US20240280376A1
公开(公告)日：2024-08-22
申请号：US18171848
申请日：2023-02-21
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Bo Yu , Brent Navin Roger Bacchus , Shu Chen , Joon Hwang , Michael Alan Losh
CPC classification number: G01C21/3881 , G01C21/32 , G01C21/3815 , G06T7/38 , G06T17/005 , G06T17/05 , G06T2207/10028
Abstract: A method for quantifying map errors includes receiving first map data and second map data. The method includes receiving a road topographic map. The method further includes dividing the road into road segments. The method further includes creating a plurality of bounding boxes for each of the plurality of road segments. The method includes creating a first map tile and a second map tile by filtering out the bounding boxes. The method includes executing point cloud registration to align the plurality of first data points in the first map tile with the plurality of second data points in the second map tile to determine a plurality of absolute offsets between the plurality of first data points and the plurality of second data points. The method includes determining a relative map error between the first map and the second map based on the absolute offsets.
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公开(公告)号：US20240085210A1
公开(公告)日：2024-03-14
申请号：US17930503
申请日：2022-09-08
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Fan Bai , Gui Chen , Joon Hwang , Carl P. Darukhanavala , Vivek Vijaya Kumar , Shu Chen , Donald K. Grimm
IPC: G01C21/00
CPC classification number: G01C21/3822 , G01C21/3841 , G01C21/3867
Abstract: A method of creating a high-definition (HD) map of a roadway includes receiving a multi-layer probability density bitmap. The multi-layer probability density bitmap represents a plurality of lane lines of the roadway sensed by a plurality of sensors of a plurality of vehicles. The multi-layer probability density bitmap includes a plurality of points. The method further includes recursively conducting a hill climbing search using the multi-layer probability density bitmap to create a plurality of lines. In addition, the method includes creating the HD map of the roadway using the plurality of lines determined by the hill climbing search.
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公开(公告)号：US20240068836A1
公开(公告)日：2024-02-29
申请号：US17821898
申请日：2022-08-24
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Joon Hwang , Gui Chen , Carl P. Darukhanavala , Vivek Vijaya Kumar , Shu Chen , Donald K. Grimm , Fan Bai
IPC: G01C21/00
CPC classification number: G01C21/3822 , G01C21/3841 , G01C21/3878
Abstract: A method includes receiving sensor data from a plurality of sensors of a plurality of vehicles. The sensor data includes vehicle GPS data and sensed lane line data of the roadway. The method further includes creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data, fusing the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap, creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap, extracting lane line data from the plurality of multi-layer probability density bitmaps, and creating the high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the lane line data extracted from the plurality of multi-layer probability density bitmaps.
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Patent Agency Ranking
公开(公告)号：US12270918B2
公开(公告)日：2025-04-08
申请号：US17933895
申请日：2022-09-21
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Shu Chen , Bo Yu , Joon Hwang , Carl P. Darukhanavala , Vivek Vijaya Kumar
Abstract: A global positioning system (GPS)-bias detection and reduction system including a GPS-bias model having GPS statistical data creating a database representing data collected from a vehicle group having thousands or multiple thousands of vehicles saved in a database. At least one newly collected vehicle GPS data point is compared to the GPS statistical data to reduce negative effects of GPS-bias and to update the vehicle GPS-bias correction based on a previous GPS-bias model. A selected road node and a segment of a roadway have a map matching performed using a nearest service from a collection location of the GPS statistical data. A GPS-bias is calculated using a look-up of the database. An estimated horizontal position error (EHPE) defining a quality indicator is applied to distinguish a good quality GPS statistical data from a poor quality GPS statistical data.
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公开(公告)号：US20240219201A1
公开(公告)日：2024-07-04
申请号：US18149427
申请日：2023-01-03
Applicant: GM Global Technology Operations LLC
Inventor： Fan Bai , Mason David Gemar , Vivek Vijaya Kumar , Joon Hwang , Bo Yu
CPC classification number: G01C21/3859 , G01C21/3841 , G06V20/56
Abstract: A method and system of map data reconciliation in connected vehicles. The method includes processing information to detect a same object; determining an identification of the same object; determining a confidence level of the identification of the same object; determining a probability mass function (PMF) of the identification of the same object using Dempster-Shafer Theory; determining a most probably identification of the same object based on the PMF; and communicating the most probably identification of the same object to a vehicle to implement a vehicle function. The system includes a conflict resolution module configured to receive confidence levels from multiple vehicles detecting the same object and to determine a reconciled identification of the same object using an algorithm based on Dempster-Shafer Theory, and a weight calculation module configured to apply a weight function based on a scene context weight function and on a historical score of the vehicles.
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17.发明公开公开(公告)号：US20240125616A1
公开(公告)日：2024-04-18
申请号：US18045306
申请日：2022-10-10
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Joon Hwang , Carl P. Darukhanavala , Shu Chen , Vivek Vijaya Kumar , Donald K. Grimm , Fan Bai
IPC: G01C21/00
CPC classification number: G01C21/3819 , G01C21/387 , G01C21/3889
Abstract: A method of correcting a GPS vehicle trajectory of a vehicle on a roadway for a high-definition map is provided. The method comprises receiving first bitmap data from a first sensor of a first vehicle to create a plurality of first multi-layer bitmaps for the first vehicle using the first bitmap data and receiving second bitmap data from a plurality of second sensors of a plurality of second vehicles to create a plurality of second multi-layer bitmaps. The method further comprises creating first probability density bitmaps and an overall probability density bitmap with a probability density estimation, and matching an image template from each of the first probability density bitmaps with the overall probability density bitmap to define match results. The method further comprises combining the match results to define combined utility values and determining the maximal utility value with the combined utility values.
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18.发明申请公开(公告)号：US20200290620A1
公开(公告)日：2020-09-17
申请号：US16355079
申请日：2019-03-15
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Mohammed H. Al Qizwini , Xuewei Qi , Joon Hwang , David H. Clifford
Abstract: The present application generally relates to a method and apparatus for generating an action policy for controlling an autonomous vehicle. In particular, the method and apparatus are operative for determining a following distance between a host vehicle and a lead vehicle and a lead vehicle speed, generating a lane change request in response to the following distance, a host vehicle speed and the lead vehicle speed, determining an available lane in response to an image and the lane change request, generating a lane change command in response to the available lane, generating a control signal in response to the lane change request and a map data and controlling the vehicle to execute a lane change action in response to the control signal.
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19.发明授权Systems and methods for estimating battery pack capacity during charge sustaining use 有权用于在电荷持续使用期间估计电池组容量的系统和方法公开(公告)号：US09535129B2
公开(公告)日：2017-01-03
申请号：US14307192
申请日：2014-06-17
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Kurt M. Johnson , Patrick Frost , Joon Hwang , Damon R. Frisch
CPC classification number: G01R31/36 , G01R31/361 , G01R31/3689 , Y02T10/7005
Abstract: System and methods for estimating a capacity of a battery are presented. In certain embodiments, charge and discharge current throughput data may be separately accumulated during operation of a battery system (e.g., during a charge sustaining operation of vehicle associated with the battery system). Charge and discharge voltage-based state of charge movement data may be further separately accumulated. Upon accumulating sufficient data, estimated charge and discharge battery capacities may be determined based on the accumulated data.
Abstract translation: 介绍了用于估计电池容量的系统和方法。 在某些实施例中，在电池系统的操作期间（例如，在与电池系统相关联的车辆的充电维持操作期间），充电和放电电流吞吐量数据可以单独地累积。 可以进一步分别累积基于充电和放电电压的充电状态的运动数据。 在累积足够的数据时，可以基于累积数据来确定估计的充电和放电电池容量。
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