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    Resolution of doppler ambiguity in a radar system through tracking
    11.
    发明授权
    Resolution of doppler ambiguity in a radar system through tracking 有权

    公开(公告)号：US11119187B2

    公开(公告)日：2021-09-14

    申请号：US16279286

    申请日：2019-02-19

    Applicant: GM Global Technology Operations LLC

    Inventor： Shuqing Zeng ,  Igal Bilik ,  Yasen Hu

    IPC: G01S13/58 ,  G01S7/35

    Abstract: A system and method to resolve ambiguity in a radar system involve detecting one or more objects with the radar system. The detecting includes obtaining range, azimuth, and an ambiguous range rate of a first object of the one or more objects. A plurality of Kalman filters are generated with state variables that include parameters based on the range, the azimuth, and the ambiguous range rate. Each of the plurality of Kalman filters provides a different estimate for an unambiguous range rate. The method also includes updating the plurality of Kalman filters using additional detections by the radar system, selecting a selected Kalman filter from among the plurality of Kalman filters that exhibits a highest probability mass among a plurality of probability mass corresponding with and derived from the plurality of Kalman filters, and determining the unambiguous range rate of the object using the selected Kalman filter.

    Control systems, control methods and controllers for an autonomous vehicle
    13.
    发明授权
    Control systems, control methods and controllers for an autonomous vehicle 有权

    公开(公告)号：US10955842B2

    公开(公告)日：2021-03-23

    申请号：US15988630

    申请日：2018-05-24

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng ,  Wei Tong ,  Upali P. Mudalige

    IPC: G05D1/00 ,  G05D1/02 ,  B60W30/18 ,  B60W50/00 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20

    Abstract: Systems and methods are provided for controlling an autonomous vehicle (AV). A scene understanding module of a high-level controller selects a particular combination of sensorimotor primitive modules to be enabled and executed for a particular driving scenario from a plurality of sensorimotor primitive modules. Each one of the particular combination of the sensorimotor primitive modules addresses a sub-task in a sequence of sub-tasks that address a particular driving scenario. A primitive processor module executes the particular combination of the sensorimotor primitive modules such that each generates a vehicle trajectory and speed profile. An arbitration module selects one of the vehicle trajectory and speed profiles having the highest priority ranking for execution, and a vehicle control module processes the selected one of vehicle trajectory and speed profiles to generate control signals used to execute one or more control actions to automatically control the AV.

    On-vehicle imaging system
    14.
    发明授权
    On-vehicle imaging system 有权

    公开(公告)号：US10893183B1

    公开(公告)日：2021-01-12

    申请号：US16686407

    申请日：2019-11-18

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Guangyu J. Zou ,  Shuqing Zeng ,  Upali P. Mudalige

    IPC: H04N5/225 ,  B60R11/04 ,  G01S17/931

    Abstract: An attention-based imaging system is described, including a camera that can adjust its field of view (FOV) and resolution and a control routine that can determine one or more regions of interest (ROI) within the FOV to prioritize camera resources. The camera includes an image sensor, an internal lens, a steerable mirror, an external lens, and a controller. The external lens is disposed to monitor a viewable region, and the steerable mirror is interposed between the internal lenses and the external lenses. The steerable mirrors are arranged to project the viewable region from the external lens onto the image sensor via the internal lens. The steerable mirror modifies the viewable region that is projected onto the image sensor and controls the image sensor to capture an image. The associated control routine can be deployed either inside the camera or in a separate external processor.

    SEMANTIC PRESERVED STYLE TRANSFER
    16.
    发明申请
    SEMANTIC PRESERVED STYLE TRANSFER 审中-公开

    公开(公告)号：US20200311986A1

    公开(公告)日：2020-10-01

    申请号：US16366393

    申请日：2019-03-27

    Applicant: GM Global Technology Operations LLC

    Inventor： Wei Tong ,  Chengqi Bian ,  Farui Peng ,  Shuqing Zeng

    IPC: G06T11/00 ,  G06T5/00 ,  G06T5/50 ,  G06N3/08 ,  G06N3/04 ,  G06N20/20 ,  B60R11/04

    Abstract: A method for image style transfer using a Semantic Preserved Generative Adversarial Network (SPGAN) includes: receiving a source image; inputting the source image into the SPGAN; extracting a source-semantic feature data from the source image; generating, by the first decoder, a first synthetic image including the source semantic content of the source image in a target style of a target image using the source-semantic feature data extracted by the first encoder of the first generator network, wherein the first synthetic image includes first-synthetic feature data; determining a first encoder loss using the source-semantic feature data and the first-synthetic feature data; discriminating the first synthetic image against the target image to determine a GAN loss; determining a total loss as a function of the first encoder loss and the first GAN loss; and training the first generator network and the first discriminator network.

    SYSTEM AND METHOD FOR RADAR CROSS TRAFFIC TRACKING AND MANEUVER RISK ESTIMATION
    17.
    发明申请
    SYSTEM AND METHOD FOR RADAR CROSS TRAFFIC TRACKING AND MANEUVER RISK ESTIMATION 审中-公开

    公开(公告)号：US20200307561A1

    公开(公告)日：2020-10-01

    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 ,  G01S13/93 ,  G05D1/02 ,  G06N20/00

    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.

    ADAPTIVE SENSOR SYTEM FOR VEHICLE AND METHOD OF OPERATING THE SAME
    18.
    发明申请
    ADAPTIVE SENSOR SYTEM FOR VEHICLE AND METHOD OF OPERATING THE SAME 审中-公开

    公开(公告)号：US20200284912A1

    公开(公告)日：2020-09-10

    申请号：US16296290

    申请日：2019-03-08

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Lawrence A. Bush ,  Zachariah E. Tyree ,  Shuqing Zeng ,  Upali P Mudalige

    IPC: G01S17/89 ,  G06N3/04 ,  G06F3/01 ,  G06K9/00 ,  G05D1/00

    Abstract: An adaptive sensor control system for a vehicle includes a controller and a steerable sensor system. The controller generates a perception of the vehicle's environment, including providing at least one perception datum and an associated uncertainty factor for different areas within the perception of the environment of the vehicle. The controller also determines one or more relevance factor for the different areas within the perception of the environment. Furthermore, the controller generates control commands for steering the sensor system toward a physical space in the environment as a function of the uncertainty factor and one or more relevance factors. Accordingly, the sensor system obtains updated sensor input for the physical space to update the perception datum and the associated uncertainty factor for the physical space.

    METHOD AND APPARATUS FOR MEMORY ACCESS MANAGEMENT FOR DATA PROCESSING
    19.
    发明申请
    METHOD AND APPARATUS FOR MEMORY ACCESS MANAGEMENT FOR DATA PROCESSING 有权

    公开(公告)号：US20200167887A1

    公开(公告)日：2020-05-28

    申请号：US16199898

    申请日：2018-11-26

    Applicant: GM Global Technology Operations LLC

    Inventor： Shige Wang ,  Wei Tong ,  Shuqing Zeng ,  Roman L. Millett

    IPC: G06T1/20 ,  G06F9/48 ,  G06F9/54 ,  G06F3/06 ,  G06F9/38 ,  G06K9/62 ,  G06T7/80 ,  G06T7/73

    Abstract: A method and system including a central processing unit (CPU), an accelerator, a communication bus and a system memory device for dynamically processing an image file are described. The accelerator includes a local memory buffer, a data transfer scheduler, and a plurality of processing engines. The data transfer scheduler is arranged to manage data transfer between the system memory device and the local memory buffer, wherein the data transfer includes data associated with the image file. The local memory buffer is configured as a circular line buffer, and the data transfer scheduler includes a ping-pong buffer for transferring output data from the one of the processing engines to the system memory device. The local memory buffer is configured to execute cross-layer usage of data associated with the image file.

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