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公开(公告)号：US20190057261A1
公开(公告)日：2019-02-21
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
CPC classification number: G06K9/00791 , G06K9/4628 , G06K9/6267 , G06K9/6271 , G06K9/66
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：US09950700B2
公开(公告)日：2018-04-24
申请号：US15084648
申请日：2016-03-30
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wei Tong , Qingrong Zhao , Bakhtiar B. Litkouhi , Shuqing Zeng
CPC classification number: B60T8/171 , B60Q9/00 , B60T7/12 , B60T7/22 , B60T8/175 , B60T2201/022 , B60T2210/10 , B60T2210/12
Abstract: A method of determining a surface condition of a path of travel. A plurality of images is captured of a surface of the path of travel by an image capture device. The image capture device captures images at varying scales. A feature extraction technique is applied by a feature extraction module to each of the scaled images. A fusion technique is applied, by the processor, to the extracted features for identifying the surface condition of the path of travel. A road surface condition signal provide to a control device. The control device applies the road surface condition signal to mitigate the wet road surface condition.
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公开(公告)号：US09598087B2
公开(公告)日：2017-03-21
申请号：US14568656
申请日：2014-12-12
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Qi Zhang , Jinsong Wang , Bakhtiar Litkouhi , Wende Zhang
CPC classification number: B60W40/06 , B60W2420/42 , G06K9/00791 , H04N5/2256
Abstract: Systems and methods use an image of a road surface that is generated by a camera. The image includes a pattern from a light source. A region of interest in the image is determined based on the pattern from the light source. A total area is determined that includes at least part of the region of interest and an area adjacent the region of interest. A feature vector is extracted based on the region of interest and the total area. A road condition is determined based on the feature vector and a classifier.
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公开(公告)号：US11772641B2
公开(公告)日：2023-10-03
申请号：US17303304
申请日：2021-05-26
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Nikolai Moshchuk , Bakhtiar Litkouhi , Qingrong Zhao
CPC classification number: B60W30/09 , B60Q9/008 , B60W10/18 , B60W10/20 , B60W30/18163 , B60W50/14 , B60W2552/30 , B60W2552/35 , B60W2710/18 , B60W2710/20
Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving a first surface value associated with a first road surface area in an upcoming environment of the vehicle; receiving a second surface value associated with a second road surface area in the upcoming environment of the vehicle; determining a change in surface value based on the first surface value and the second surface value; and in response to the change in surface value being greater than a threshold, adapting at least one of vehicle collision warning messages, vehicle braking control, vehicle steering control, and path planning based on the second surface value.
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15.发明公开公开(公告)号：US20230242131A1
公开(公告)日：2023-08-03
申请号：US17592024
申请日：2022-02-03
Applicant: GM Global Technology Operations LLC
Inventor： SeyedAlireza Kasaiezadeh Mahabadi , Arun Adiththan , Qingrong Zhao , Wen-Chiao Lin , Shiming Duan , Ramesh Sethu , Bakhtiar B. Litkouhi , Shih-Ken Chen
CPC classification number: B60W50/0205 , B60W40/10 , B60W2050/021 , B60W2050/0215
Abstract: A motor vehicle motion control health monitoring system includes sensors and actuators disposed on the motor vehicle. The sensors measure real-time static and dynamic telemetry data about the motor vehicle, and the actuators alter static and dynamic behavior of the motor vehicle. A control module has a processor, a memory, and input/output (I/O) ports. The processor executes program code portions stored in the memory, the program code portions include: an offline portion that collects telemetry data from the motor vehicle, performs failure analysis on the telemetry data and allocates tasks based on the failure analysis; and an online portion that analyzes the telemetry data for failures within specific sensors, actuators, or functions that utilize systems of sensors and/or actuators. The online portion mitigates deviations in the telemetry data by sending a correction to the one or more sensors, actuators, and/or functions of a motor vehicle motion control system.
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Patent Agency Ranking
公开(公告)号：US20210009201A1
公开(公告)日：2021-01-14
申请号：US16508754
申请日：2019-07-11
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Joonho Lee , Qingrong Zhao , Bakhtiar B. Litkouhi
IPC: B62D6/00 , B60W40/068 , B60W40/064
Abstract: Systems and methods are provided for generating adapted tuning parameters for target slip estimation, the parameters being adapted to real-time road surface conditions. The method includes, receiving, from a road surface detection module, a road surface condition, Sn, from among N road surface conditions S, range of friction, mu, and a confidence level, Ci. The method receives sensor system data from a sensor system, and determines, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force {circumflex over (Θ)}(0), an initial gain, P0, and an initial projected range of signal bounds, (Pu) and (Pl). The method tunes (i.e., adapts) the initial estimator values to generate therefrom adapted tuning parameters based on received inputs. The method outputs adapted tuning parameters.
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17.发明申请公开(公告)号：US20200257292A1
公开(公告)日：2020-08-13
申请号：US16271272
申请日：2019-02-08
Applicant: GM Global Technology Operations LLC
Inventor： Qingrong Zhao , Bakhtiar B. Litkouhi , Nikolai K. Moshchuk
IPC: G05D1/00 , G05D1/02 , B60Q9/00 , B60W40/068 , B60W40/107
Abstract: Presented are automated driving systems for executing intelligent vehicle operations in mixed-mu road conditions, methods for making/using such systems, and vehicles with enhanced headway control for transitional surface friction conditions. A method for executing an automated driving operation includes a vehicle controller receiving sensor signals indicative of road surface conditions of adjoining road segments, and determining, based on these sensor signals, road friction values for the road segments. The controller determines whether the road friction value is increasing or decreasing, and if a difference between the road friction values is greater than a calibrated minimum differential. Responsive to the friction difference being greater than the calibrated minimum differential and the road friction value decreasing, the vehicle controller executes a first vehicle control action. Conversely, if the friction difference is greater than the calibrated minimum but the road friction value is increasing, the controller responsively executes a second vehicle control action.
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公开(公告)号：US10678255B2
公开(公告)日：2020-06-09
申请号：US15896104
申请日：2018-02-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Mohsen Khalili , Jinsong Wang , Bakhtiar B. Litkouhi
Abstract: Systems, Methods and Apparatuses are provided for detecting surface conditions, which includes: an image scene captured by a camera wherein the image scene includes: a set of a plurality of regions of interest (ROIs); and a processor configured to receive the image scene to: extract at least a first and a second ROI from the set of the plurality of ROIs of the image scene; associate the first ROI with an above-horizon region and associate the second ROI with a surface region; analyze the first ROI and the second ROI in parallel for a condition related to an ambient lighting in the first ROI and for an effect related to the ambient lighting in the second ROI; and extract from the first ROI features of the condition of the ambient lighting and extract from the second ROI features of the effect of the ambient lighting on a surface region.
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公开(公告)号：US10082795B2
公开(公告)日：2018-09-25
申请号：US15245522
申请日：2016-08-24
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Qi Zhang , Bakhtiar B. Litkouhi , Jinsong Wang
CPC classification number: G05D1/0246 , B60T8/00 , B60T8/17 , B60T8/172 , B60T2210/13 , G01B11/0616 , G06K9/00791 , G06K9/78
Abstract: A method for determining a thickness of water on a path of travel. A plurality of images of a surface of the path of travel is captured by an image capture device over a predetermined sampling period. A plurality of wet surface detection techniques are applied to each of the images. A detection rate is determined in real-time for each wet surface detection technique. A detection rate trigger condition is determined as a function of a velocity of the vehicle for each detection rate. The real-time determined detection rate trigger conditions are compared to predetermined detection rate trigger conditions in a classification module to identify matching results pattern. A water film thickness associated with the matching results pattern is identified in the classification module. A water film thickness signal is provided to a control device. The control device applies the water film thickness signal to mitigate the wet surface condition.
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公开(公告)号：US09971945B2
公开(公告)日：2018-05-15
申请号：US14957998
申请日：2015-12-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Qi Zhang , Jinsong Wang , Bakhtiar B. Litkouhi
CPC classification number: G06K9/00798 , B60W40/06 , B60W2420/42 , B60W2550/14 , B60W2710/06 , B60W2710/18 , B60W2720/40 , B60W2750/40 , G06K9/00791 , G06K9/3233 , G06T2207/10024 , G06T2207/20024 , G06T2207/30256 , H04N7/183
Abstract: A method for determining a wet surface condition of a road. An image of a road surface is captured by an image capture device of the host vehicle. The image capture device is mounted on a side of the host vehicle and captures an image in a downward direction. Identifying in the captured image, by a processor, a region of interest. The region of interest is in a region sideways to a face of the wheel. The region of interest is representative of where sideways splash as generated by the wheel occurs. A determination is made whether water is present in the region of interest. A wet road surface signal is generated in response to the identification of water in the region of interest.
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