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公开(公告)号：US11300974B2
公开(公告)日：2022-04-12
申请号：US16515592
申请日：2019-07-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Upali P. Mudalige , Zachariah E. Tyree , Wei Tong , Shuqing Zeng
Abstract: Methods and systems are provided for detecting objects within an environment of a vehicle. In one embodiment, a method includes: receiving, by a processor, image data sensed from the environment of the vehicle; determining, by a processor, an area within the image data that object identification is uncertain; controlling, by the processor, a position of a lighting device to illuminate a location in the environment of the vehicle, wherein the location is associated with the area; controlling, by the processor, a position of one or more sensors to obtain sensor data from the location of the environment of the vehicle while the lighting device is illuminating the location; identifying, by the processor, one or more objects from the sensor data; and controlling, by the processor, the vehicle based on the one or more objects.
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公开(公告)号：US11198418B2
公开(公告)日：2021-12-14
申请号：US16687931
申请日：2019-11-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Zachariah E. Tyree , Prabhjot Kaur
Abstract: A control system for a subject vehicle includes an autonomous braking system, a forward monitoring sensor and a rearward monitoring sensor. The controller monitors a first speed of a first vehicle travelling in front of the subject vehicle and a second speed of a second vehicle travelling to the rear of the subject vehicle. A first gap-closing time is determined based upon the speed of the subject vehicle and the first speed of the first vehicle. A second gap-closing time is determined based upon the speed of the subject vehicle and the second speed of the second vehicle. The controller controls the speed of the subject vehicle based upon the first gap-closing time and the second gap-closing time when one of the first gap-closing time or the second gap-closing time is less than a first threshold time.
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公开(公告)号：US20210149415A1
公开(公告)日：2021-05-20
申请号：US16689672
申请日：2019-11-20
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Brent N. Bacchus , James P. Neville , Upali P. Mudalige
Abstract: A system and method for monitoring a road segment includes determining a geographic position of a vehicle in context of a digitized roadway map. A perceived point cloud and a mapped point cloud associated with the road segment are determined. An error vector is determined based upon a transformation between the mapped point cloud and the perceived point cloud. A first confidence interval is derived from a Gaussian process that is composed from past observations. A second confidence interval associated with a longitudinal dimension and a third confidence interval associated with a lateral dimension are determined based upon the mapped point cloud and the perceived point cloud. A Kalman filter analysis is executed to dynamically determine a position of the vehicle relative to the roadway map based upon the error vector, the first confidence interval, the second confidence interval, and the third confidence interval.
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公开(公告)号：US20200318976A1
公开(公告)日：2020-10-08
申请号：US16373663
申请日：2019-04-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Michael A. Losh , Brent N. Bacchus , Upali P. Mudalige
Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by a processor, landmark data obtained from an image sensor of the vehicle; fusing, by the processor, the landmark data with vehicle pose data to produce fused lane data, wherein the fusing is based on a Kalman filter; retrieving, by the processor, map data from a lane map based on the vehicle pose data; selectively updating, by the processor, the lane map based on a change in the fused lane data from the map data; and controlling, by the processor, the vehicle based on the updated lane map.
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公开(公告)号：US20230069363A1
公开(公告)日：2023-03-02
申请号：US17409979
申请日：2021-08-24
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Joseph F. Szczerba , Roy J. Mathieu
Abstract: Systems and method are provided for requesting remote control of an autonomous vehicle by a remote transportation system. In one embodiment, a method includes: receiving, by a processor of the autonomous vehicle, experience data associated with the autonomous vehicle, wherein the experience data includes a location of the autonomous vehicle, a time of day, a pose of the autonomous vehicle, detected freespace in an environment of the autonomous vehicle, detected congestion in the environment, a planned maneuver type, and an associated maneuver graph; determining, by the processor, one or more features of a planned maneuver based on the experience data; determining, by the processor, a risk value associated with the planned mission by processing the one or more features with a machine learning model; and selectively generating, by the processor, request data to the remote transportation system based on the risk value, wherein the request data includes the risk value.
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Patent Agency Ranking
公开(公告)号：US20220254042A1
公开(公告)日：2022-08-11
申请号：US17174083
申请日：2021-02-11
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Prachi Joshi , Lawrence A. Bush
Abstract: Systems and method are provided for controlling a sensor of a vehicle. In one embodiment, a method includes: receiving depth image data from the sensor of the vehicle; computing, by a processor, an aleatoric variance value based on the depth image data; dividing, by the processor, the depth image data into grid cells; computing, by the processor, a confidence bound value for each grid cell based on the depth image data; computing, by the processor, an uncertainty value for each grid cell based on the confidence bound value of the grid cell and the aleatoric variance value; and controlling, by the processor, the sensor based on the uncertainty values.
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公开(公告)号：US11155258B2
公开(公告)日：2021-10-26
申请号：US16362889
申请日：2019-03-25
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Manpreet S. Bajwa , Shuqing Zeng , Rickie A. Sprague
IPC: B60W30/09 , B60W30/095 , G05D1/02 , G06N20/00 , G01S13/931
Abstract: A risk maneuver assessment system and method to generate a perception of an environment of a vehicle and a behavior decision making model for the vehicle; a sensor system configured to provide the sensor input in the environment for filtering target objects; one or more modules configured to map and track target objects to make a candidate detection from multiple candidate detections of a true candidate detection as the tracked target object; apply a Markov Random Field (MRF) algorithm for recognizing a current situation of the vehicle and predict a risk of executing a planned vehicle maneuver at the true detection of the dynamically tracked target; apply mapping functions to sensed data of the environment for configuring a machine learning model of decision making behavior of the vehicle; and apply adaptive threshold to cells of an occupancy grid for representing an area of tracking of objects within the vehicle environment.
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公开(公告)号：US20210146827A1
公开(公告)日：2021-05-20
申请号：US16689780
申请日：2019-11-20
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Zachariah E. Tyree , Prabhjot Kaur , Upali P. Mudalige
Abstract: An exemplary automotive vehicle includes a first actuator configured to control acceleration and braking of the automotive vehicle, a second actuator configured to control steering of the automotive vehicle, a vehicle sensor configured to generate data regarding the presence, location, classification, and path of detected features in a vicinity of the automotive vehicle and a controller in communication with the vehicle sensor, and the first and second actuators. The controller is configured to selectively control the first and second actuators in an autonomous mode along a first trajectory according to an automated driving system. The controller is also configured to receive the data regarding the detected features from the vehicle sensor, determine a predicted vehicle maneuver from the data regarding the detected features, map the predicted vehicle maneuver with an indication symbol, and generate a control signal to display the indication symbol.
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19.发明授权公开(公告)号：US10962371B2
公开(公告)日：2021-03-30
申请号：US16372788
申请日：2019-04-02
Applicant: GM Global Technology Operations LLC
Inventor： Lawrence A. Bush , Fan Bai , Pengfei Ren , Eric L. Raphael , Mohannad Murad , Mohammad Naserian
Abstract: A method for vehicle tracking and localization includes receiving, by a controller, odometry data from a sensor of the first vehicle; geospatial data from a Global Positioning System (GPS) device of the first vehicle; inertial data from an inertial measurement unit (IMU) of the first vehicle; estimating an estimated-current location of the first vehicle and an estimated-current trajectory of the first vehicle using the odometry data from the sensor, the geospatial data from the GPS device, and the inertial data from the IMU of the first vehicle; inputting the inertial data into a Bayesian Network to determine a predicted location of the first vehicle and a predicted trajectory of the first vehicle, and updating the Bayesian Network using the estimated-current location and the estimated-current trajectory of the first vehicle using the odometry data and the geospatial data.
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20.发明申请公开(公告)号：US20200265709A1
公开(公告)日：2020-08-20
申请号：US16280152
申请日：2019-02-20
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Michael A. Losh , Aravindhan Mani
Abstract: Systems and methods are provided for interpreting traffic information by a vehicle. In one embodiment, a method includes: receiving, by a processor, sensor data from one or more sensing devices of the vehicle, where the sensor data depicts a traffic device in an environment of the vehicle; receiving, by the processor, map data associated with the environment of the vehicle, where the map data includes traffic devices; matching, by the processor, the traffic device of the sensor data with a traffic device of the map data; determining, by the processor, a probability distribution of a traffic signal associated with the matched traffic devices based on a Hidden Markov model (HMM); and planning, by the processor, control of the vehicle based on the probability distribution.
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