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    Method and apparatus for traffic control device detection optimization
    11.
    发明授权
    Method and apparatus for traffic control device detection optimization 有权

    公开(公告)号：US10124804B2

    公开(公告)日：2018-11-13

    申请号：US15485841

    申请日：2017-04-12

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Valor Yaldo ,  Xiaofeng Song

    IPC: B60W30/18 ,  G06K9/00 ,  B60W10/04 ,  B60W10/18 ,  B60W30/16 ,  G08G1/095 ,  G01S19/13 ,  H04L29/08

    Abstract: A method and apparatus for optimizing traffic control device detection are provided. The method includes: determining whether a first vehicle is traveling to an intersection with a traffic control device and whether the first vehicle is within a predetermined distance of the intersection; in response to determining that the first vehicle is traveling to the intersection with the traffic control device and that the first vehicle is within the first predetermined distance of the intersection, scanning for the traffic control device; controlling the first vehicle to increase a distance between the first vehicle and a second vehicle in front of the first vehicle if the scanning fails to detect the traffic control device; and controlling the first vehicle to maintain the distance between the first vehicle and the second vehicle in front of the first vehicle if the scanning detects the traffic control device.

    Lane detection systems and methods
    14.
    发明授权
    Lane detection systems and methods 有权

    公开(公告)号：US09988048B1

    公开(公告)日：2018-06-05

    申请号：US15448730

    申请日：2017-03-03

    Applicant: GM Global Technology Operations LLC

    Inventor： Xiaofeng F. Song ,  Valor Yaldo

    IPC: B60W30/12 ,  B60R1/06 ,  B60R1/12 ,  B60W50/14

    CPC classification number: B60W30/12 ,  B60W50/14 ,  B60W2050/143 ,  B60W2420/42 ,  B60W2520/06 ,  B60W2710/0622 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2710/30 ,  B60W2720/24

    Abstract: A lane detection method includes: identifying locations of a lane line included in a first image captured using a first camera capturing images beside the vehicle, the first camera being mounted to a mirror that is movable; based on the locations of the lane line, determining a first linear equation corresponding to the lane line; determining a distance to the lane line based on the first linear equation; identifying locations of the lane line included in a second image captured using a second camera capturing images in front of the vehicle; based on the locations of the lane line, determining a second linear equation corresponding to the lane line; based on the first and second linear equations, determining an angle between first and second lines corresponding to the first and second linear equations, respectively; and determining a corrected distance to the lane line based on the distance and the angle.

    Methods and systems for vehicle localization
    15.
    发明授权
    Methods and systems for vehicle localization 有权

    公开(公告)号：US10551509B2

    公开(公告)日：2020-02-04

    申请号：US15638565

    申请日：2017-06-30

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Xiaofeng F. Song ,  Valor Yaldo

    IPC: G01S19/48 ,  G01C21/36 ,  G01C21/30 ,  G01S19/40 ,  G06K9/00 ,  G06K9/62 ,  G06T5/00 ,  G06T7/73

    Abstract: Methods and systems for vehicle localization are disclosed. An exemplary system includes a navigation system configured to generate navigation data corresponding to a global position of the vehicle, at least one image sensor configured to capture image data of a selected roadway feature along a projected path of the vehicle, a database comprising map data corresponding to lateral and longitudinal coordinates for a plurality of roadway features along the projected path of the vehicle; and a controller, the controller configured to receive the image data, the map data, and the navigation data, calculate a first distance from the selected feature to the vehicle using the navigation data and the image data, calculate a second distance from the selected feature to the vehicle using the navigation data and the map data, and determine a localization error by comparing the first distance to the second distance.

    Autonomous vehicle parking methods and systems
    19.
    发明授权
    Autonomous vehicle parking methods and systems 有权

    公开(公告)号：US10286904B2

    公开(公告)日：2019-05-14

    申请号：US15620446

    申请日：2017-06-12

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Valor Yaldo ,  Xiaofeng F. Song

    IPC: B60W30/06 ,  G05D1/00 ,  G08G1/14 ,  H04W4/46 ,  H04W4/80 ,  G01S19/13 ,  H04W84/12 ,  H04W4/44

    Abstract: Methods and systems are provided for controlling parking of an autonomous vehicle. A method of parking an autonomous vehicle includes receiving sensor data indicative of an exterior environment of the autonomous vehicle. The received sensor data is processed to determine a parking space characterization. Additional sensor data is received that is indicative of an occupant location within the autonomous vehicle. A processor determines a parking position within a parking space based on the parking space characterization and the occupant location. The processor generates control signals to operate one or more actuator devices to maneuver the autonomous vehicle into the parking space at the parking position.

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