公开(公告)号：US20240263965A1

公开(公告)日：2024-08-08

申请号：US18163976

申请日：2023-02-03

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus ,  Tarek Abdel Raouf Abdel Rahman ,  Ryan Jay Yergin

IPC: G01C21/00 ,  B60W40/10 ,  B60W60/00

CPC classification number: G01C21/3859 ,  B60W40/10 ,  B60W60/001 ,  G01C21/3819 ,  B60W2520/00 ,  B60W2552/00

Abstract: A perception and map edge association system for an autonomous vehicle includes one or more controllers executing instructions to receive a plurality of perception lane edge candidates that are each representative of a perception lane edge and a plurality of map lane edge candidates that are each representative of a map lane edge. The one or more controllers identify a discrepancy between a selected perception lane edge candidate and a best fit map edge candidate for a lane characteristic based on a posterior association probability matrix and a discrepancy flag. The one or more controllers segment the pair of inconsistent perception and map lane edges into one or more matching segments. The one or more matching segments indicate where the perception lane edge and the map lane edge match one another based on the lane characteristics. The perception and map edge association system improves localization and scene creation performance.

公开(公告)号：US20230245464A1

公开(公告)日：2023-08-03

申请号：US17587699

申请日：2022-01-28

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus ,  Rakesh Kumar ,  Bo Yu

IPC: G06V20/58 ,  B60W40/105 ,  H04W88/10

CPC classification number: G06V20/58 ,  B60W40/105 ,  H04W88/10 ,  B60W2554/4041 ,  B60W2554/4049 ,  B60W2420/42 ,  B60W2420/52

Abstract: An automobile vehicle visual wireless-based positioning system, incudes an automobile vehicle having a radio receiver. A map contains candidate locations of access-points (APs) and access-point corresponding media-access-control (MAC) IDs. A wireless range sensor determines different ranges of various detected APs visible to the automobile vehicle. An image collection feature identifies image data visible to the automobile vehicle. A real-time feature matching element matching features identified by image collection feature with data from the map. A filter receives an output from the real-time feature matching element to generate an automobile vehicle pose.

公开(公告)号：US20230168088A1

公开(公告)日：2023-06-01

申请号：US17539700

申请日：2021-12-01

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus ,  Rakesh Kumar ,  Curtis L. Hay

IPC: G01C19/00 ,  G01S13/931

CPC classification number: G01C19/00 ,  G01S13/931

Abstract: A system of a motor vehicle includes a radar unit for generating a radar signal associated with a target positioned about the vehicle. The system further includes a tracker generating a tracker signal associated with a radar heading and a doppler based on the radar signal. The system further includes a wheel speed sensor for generating a wheel speed signal associated with a velocity of the vehicle. The system further includes a gyroscope for generating a gyro signal associated with a measured yaw rate. The system further includes a computer having a processor and a computer readable medium. The processor is programmed to determine a gyro drift and a corrected yaw rate while the vehicle is in motion, with the gyro drift and the corrected yaw rate being based on at least the radar heading, the doppler effect, and the velocity of the vehicle, and the measured yaw rate.

公开(公告)号：US12266187B2

公开(公告)日：2025-04-01

申请号：US17587699

申请日：2022-01-28

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus ,  Rakesh Kumar ,  Bo Yu

IPC: G06K9/00 ,  B60W40/105 ,  G06V20/58 ,  H04W88/10

Abstract: An automobile vehicle visual wireless-based positioning system, incudes an automobile vehicle having a radio receiver. A map contains candidate locations of access-points (APs) and access-point corresponding media-access-control (MAC) IDs. A wireless range sensor determines different ranges of various detected APs visible to the automobile vehicle. An image collection feature identifies image data visible to the automobile vehicle. A real-time feature matching element matching features identified by image collection feature with data from the map. A filter receives an output from the real-time feature matching element to generate an automobile vehicle pose.

公开(公告)号：US20240338837A1

公开(公告)日：2024-10-10

申请号：US18295427

申请日：2023-04-04

Applicant: GM Global Technology Operations LLC ,  University of Waterloo

Inventor： Ahmad R. Alghooneh ,  Amir Khajepour ,  Mansoor Alghooneh ,  Brent Navin Roger Bacchus ,  Neel Pratik Bhatt ,  Ruihe Zhang

IPC: G06T7/55

CPC classification number: G06T7/55 ,  G06T2207/30252

Abstract: A monocular camera system for a vehicle includes a front mono camera, a side mono camera, and one or more controllers in electronic communication with the front mono camera and the side mono camera. The one or more controllers execute instructions to determine an ideal lagged distance the vehicle travels between a current time step and a previous time step as two asynchronous camera frames are captured by the front mono camera and the side mono camera, determine a number of delayed frames captured by either the front mono camera or the side mono camera between the current time step and the previous time step based on the ideal lagged distance. The controllers determine a direction of travel of the vehicle that indicates which mono camera is selected to provide a previous camera frame captured at the previous time step.

公开(公告)号：US20240321106A1

公开(公告)日：2024-09-26

申请号：US18189414

申请日：2023-03-24

Applicant: GM Global Technology Operations LLC

Inventor： Bo Yu ,  Brent Navin Roger Bacchus ,  Jiabin Shen ,  Yuan Zhang ,  Wenyuan Qi

IPC: G08G1/16 ,  G08G1/01

CPC classification number: G08G1/167 ,  G08G1/0129 ,  G01C21/206

Abstract: A method can be used to provide smart notifications to avoid collisions while the vehicle maneuvers in a tight structural environment, such as a home garage or an underground parking lot. The method includes receiving historical vehicle-trajectory data. The historical vehicle-trajectory data includes the location and the heading of the vehicle for each of the plurality of historical trajectories along the structure. The method further includes clustering the plurality of historical trajectories of the vehicle along the structure by types of maneuvers to generate a plurality of trajectory clusters. The method also includes creating a probability distribution bitmap using the plurality of trajectory clusters and creating a topographic map based on the probability distribution bitmap.

公开(公告)号：US20240246558A1

公开(公告)日：2024-07-25

申请号：US18157880

申请日：2023-01-23

Applicant: GM Global Technology Operations LLC

Inventor： Guangyu Jeff Zou ,  Brent Navin Roger Bacchus ,  Michael Alan Losh ,  Indranil Palit

IPC: B60W60/00 ,  B60W40/06 ,  G01C21/00

CPC classification number: B60W60/001 ,  B60W40/06 ,  G01C21/3822 ,  B60W2552/53 ,  B60W2556/00

Abstract: A scene creation system for an autonomous vehicle includes one or more controllers executing instructions to receive perception data and map data of a roadway the autonomous vehicle is traveling along, and identify a plurality of lane segments of the roadway that the autonomous vehicle travels along based on the perception data and the map data. The one or more controllers connect the plurality of lane segments together based on a spatial relationship between the plurality of lane segments to create a lane graph. The one or more controllers classify each of the plurality of lane segments of the lane graph to one or more lane attributes and reassemble the plurality of lane segments to create a representation of the roadway. The one or more controllers recreate a scene of an environment surrounding the autonomous vehicle based on the representation of the lanes that are part of the roadway.

公开(公告)号：US20240092384A1

公开(公告)日：2024-03-21

申请号：US17933587

申请日：2022-09-20

Applicant: GM Global Technology Operations LLC

Inventor： Sayyed Rouhollah Jafari Tafti ,  Brent Navin Roger Bacchus

IPC: B60W60/00 ,  G05D1/00 ,  G05D1/02

CPC classification number: B60W60/0011 ,  G05D1/0088 ,  G05D1/0212 ,  G05D2201/0213

Abstract: A method for efficient autonomous driving planning includes receiving a current driving-scene data and a predicted driving-scene data. The current driving-scene data is indicative of a current driving scene around a host vehicle. The predicted driving-scene data is indicative of a predicted driving scene around the host vehicle. The predicted driving scene around the host vehicle is different from the current driving scene around the host vehicle. The method further includes converting the current driving-scene data and the predicted driving-scene data into a first scene-graph and a second scene-graph, respectively. The method further includes determining a plurality of scene change metrics using the first scene-graph and the second scene-graph. The method further includes selecting between a first trajectory planning process and a second trajectory planning process based on the plurality of scene change metrics.

公开(公告)号：US20240077644A1

公开(公告)日：2024-03-07

申请号：US17929146

申请日：2022-09-01

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus ,  Donald K. Grimm

IPC: G01W1/06 ,  G01S19/14 ,  G01W1/12 ,  H04Q9/00

CPC classification number: G01W1/06 ,  G01S19/14 ,  G01W1/12 ,  H04Q9/00 ,  H04Q2209/10 ,  H04Q2209/40

Abstract: A system for estimating cloud cover from moving vehicles includes: vehicle mounted sensors communicating with one or more control modules. The control modules have processors, memory, and input/output (I/O) ports. The I/O ports of the control modules of the vehicles communicate with the sensors. The control modules execute program code stored in the memory including first and second algorithm portions. The first algorithm portion, collects sensor data from the sensors, estimates atmospheric parameters from the sensor data; and computes measurement coordinates from the sensor data and atmospheric parameters. The second algorithm portion generates and selectively updates a cloud map based on from data received from the first algorithm portion, and from high-definition map (HD Map) data.

公开(公告)号：US11845429B2

公开(公告)日：2023-12-19

申请号：US17490598

申请日：2021-09-30

Applicant: GM Global Technology Operations LLC

Inventor： Brent Navin Roger Bacchus

IPC: B60W30/12 ,  G01C21/00 ,  B60W50/06 ,  B60W60/00 ,  B60W50/00

CPC classification number: B60W30/12 ,  B60W50/06 ,  B60W60/001 ,  G01C21/3819 ,  G01C21/3859 ,  B60W2050/0052 ,  B60W2552/53

Abstract: A system that determines a nominal path based on interpolated lane edge data can include a processor and a memory. The memory includes instructions such that the processor is configured to receive a sensor data representing a perceived lane edge; receive map data including a lane edge; interpolate the sensor data and interpolate the map data; fuse the interpolated sensor data and the interpolated map data; and generate predicted lane edge lane edge centers based on the fused interpolated sensor data.