公开(公告)号：US09445011B2

公开(公告)日：2016-09-13

申请号：US13962156

申请日：2013-08-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wende Zhang ,  Jinsong Wang ,  Kent S. Lybecker ,  Jeffrey S. Piasecki ,  James Clem ,  Charles A. Green ,  Ryan M. Frakes ,  Travis S. Hester

IPC: H04N7/00 ,  H04N5/243 ,  B60R1/00 ,  B60R1/08

CPC classification number: H04N5/243 ,  B60R1/00 ,  B60R1/088 ,  B60R2300/105

Abstract: A vehicle imaging system includes an image capture device capturing an image exterior of a vehicle. The captured image includes at least a portion of a sky scene. A processor generates a virtual image of a virtual sky scene from the portion of the sky scene captured by the image capture device. The processor determines a brightness of the virtual sky scene from the virtual image. The processor dynamically adjusts a brightness of the captured image based the determined brightness of the virtual image. A rear view mirror display device displays the adjusted captured image.

Abstract translation: 车辆成像系统包括捕获车辆外观的图像拍摄装置。 捕获的图像包括天空场景的至少一部分。 处理器从由图像捕获装置捕获的天空场景的部分生成虚拟天空场景的虚拟图像。 处理器从虚拟图像确定虚拟天空场景的亮度。 处理器基于确定的虚拟图像的亮度动态地调整拍摄图像的亮度。 后视镜显示装置显示调整后的拍摄图像。

公开(公告)号：US09405982B2

公开(公告)日：2016-08-02

申请号：US14041016

申请日：2013-09-30

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  CARNEGIE MELLON UNIVERSITY

Inventor： Wende Zhang ,  Dan Levi ,  Debbie E. Nachtegall ,  Fernando De La Torre ,  Dong Huang

IPC: G06K9/00

CPC classification number: G06K9/00845 ,  G06K9/00597 ,  G06K9/0061

Abstract: A method for detecting an eyes-off-the-road condition based on an estimated gaze direction of a driver of a vehicle includes monitoring facial feature points of the driver within image input data captured by an in-vehicle camera device. A location for each of a plurality of eye features for an eyeball of the driver is detected based on the monitored facial features. A head pose of the driver is estimated based on the monitored facial feature points. The gaze direction of the driver is estimated based on the detected location for each of the plurality of eye features and the estimated head pose.

Abstract translation: 基于车辆的驾驶员的估计的注视方向来检测目标偏离路况的方法包括监视由车载摄像机装置拍摄的图像输入数据内的驾驶员的面部特征点。 基于所监视的面部特征来检测针对驾驶员的眼球的多个眼睛特征中的每一个的位置。 基于被监测的面部特征点估计驾驶员头部姿势。 基于检测到的多个眼睛特征中的每一个的位置和估计的头部姿势来估计驾驶员的视线方向。

公开(公告)号：US09315164B2

公开(公告)日：2016-04-19

申请号：US14447046

申请日：2014-07-30

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Donald K. Grimm ,  Wende Zhang

IPC: G06F19/00 ,  B60R16/023

CPC classification number: B60R16/023

Abstract: A system for integration and communication of aftermarket vehicle components with existing vehicle components through methods comprising an apparatus receiving an input signal comprising a raw data set, and engaging a processor configured to execute computer-executable instructions and communicate with an existing motion control system. The methods also include the apparatus communicating, or alternately generating, a vehicle identification sequence derived from the vehicle identification data set. Finally, the methods include the apparatus communicating a calibration data set comprising computer-executable instructions including a vehicle calibration sequence, executing the vehicle identification sequence, and executing the vehicle calibration sequence.

Abstract translation: 一种用于通过包括接收包括原始数据集的输入信号的装置的装置并且使被配置为执行计算机可执行指令并与现有运动控制系统通信的处理器相结合的方法来将售后车辆部件与现有车辆部件集成和通信的系统。 所述方法还包括所述装置通信或交替地生成从所述车辆识别数据集导出的车辆识别序列。 最后，所述方法包括：传送包括计算机可执行指令的校准数据集的装置，包括车辆校准序列，执行车辆识别序列，以及执行车辆校准序列。

公开(公告)号：US20160031389A1

公开(公告)日：2016-02-04

申请号：US14447046

申请日：2014-07-30

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Donald K. Grimm ,  Wende Zhang

IPC: B60R16/023

CPC classification number: B60R16/023

Abstract: The present disclosure to systems for integration and communication of aftermarket vehicle components with existing vehicle components through methods comprising an apparatus receiving an input signal comprising a raw data set, and engaging a processor configured to execute computer-executable instructions and communicate with an existing motion control system. The methods also include the apparatus communicating, or alternately generating, a vehicle identification sequence derived from the vehicle identification data set. Finally, the methods include the apparatus communicating a calibration data set comprising computer-executable instructions including a vehicle calibration sequence, executing the vehicle identification sequence, and executing the vehicle calibration sequence.

Abstract translation: 本公开涉及用于通过包括接收包括原始数据集的输入信号的装置的装置和接合被配置为执行计算机可执行指令并与现有运动控制器通信的处理器的用于集成和通信售后车辆部件与现有车辆部件的系统 系统。 所述方法还包括所述装置通信或交替地生成从所述车辆识别数据集导出的车辆识别序列。 最后，所述方法包括：传送包括计算机可执行指令的校准数据集的装置，包括车辆校准序列，执行车辆识别序列，以及执行车辆校准序列。

公开(公告)号：US09090264B1

公开(公告)日：2015-07-28

申请号：US14302632

申请日：2014-06-12

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Qingrong Zhao ,  Wende Zhang ,  Jinsong Wang ,  Bakhtiar Brian Litkouhi

IPC: B60W40/06 ,  B60T8/1764

CPC classification number: B60W40/06 ,  B60T8/172 ,  B60T8/1764 ,  B60T2210/12 ,  B60T2210/32 ,  B60W2420/42

Abstract: A method for determining a wet road surface condition for a vehicle driving on a road. An image exterior of the vehicle is captured by an image capture device at a first and second instance of time. Potential objects and feature objects are detected on a ground surface of the road of travel at the first instance of time and the second instance of time. A determination is made whether the ground surface includes a mirror effect reflective surface based on a triangulation technique utilizing the feature points in the captured images at the first instance of time and the second instance of time. A wet driving surface indicating signal is generated in response to the determination that the ground surface includes a mirror effect reflective surface.

Abstract translation: 一种用于确定在道路上行驶的车辆的湿路面状况的方法。 车辆的图像外观在第一和第二时刻由图像捕获装置捕获。 潜在的物体和特征物体在第一时间和第二时间的行进道路的地面上被检测到。 基于在第一时刻和第二时刻利用捕获图像中的特征点的三角测量技术，确定地面是否包括反射镜效应反射面。 响应于地面包括反射镜反射表面的确定，产生湿驱动表面指示信号。

公开(公告)号：US20150115571A1

公开(公告)日：2015-04-30

申请号：US14476345

申请日：2014-09-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wende Zhang ,  James N. Nickolaou ,  Ryan M. Frakes

IPC: B60D1/36 ,  B60R1/00 ,  H04N7/18 ,  B60D1/06

CPC classification number: B60D1/36 ,  B60D1/06 ,  B60D1/62 ,  B60R1/00 ,  B60R2300/808 ,  G06K9/00791 ,  H04N7/183

Abstract: A system and method for providing visual assistance through a graphic overlay super-imposed on a back-up camera image for assisting a vehicle operator when backing up a vehicle to align a tow ball with a trailer tongue. The method includes providing camera modeling to correlate the camera image in vehicle coordinates to world coordinates, where the camera modeling provides the graphic overlay to include a tow line having a height in the camera image that is determined by an estimated height of the trailer tongue. The method also includes providing vehicle dynamic modeling for identifying the motion of the vehicle as it moves around a center of rotation. The method then predicts the path of the vehicle as it is being steered including calculating the center of rotation.

Abstract translation: 一种用于通过超级加载在备用摄像机图像上的图形覆盖物来提供视觉辅助的系统和方法，用于在备用车辆以使牵引球与拖车舌头对准时协助车辆操作者。 该方法包括提供相机建模以将车辆坐标中的相机图像与世界坐标相关联，其中相机建模提供图形覆盖以包括具有通过拖车舌头的估计高度确定的相机图像中的高度的拖线。 该方法还包括提供车辆动态建模以识别当车辆围绕旋转中心移动时的运动。 该方法然后预测车辆在被转向时的路径，包括计算旋转中心。

公开(公告)号：US12270908B2

公开(公告)日：2025-04-08

申请号：US17516318

申请日：2021-11-01

Applicant: GM Global Technology Operations LLC

Inventor： Yao Hu ,  Xinyu Du ,  Wende Zhang ,  Hao Yu

IPC: G01S17/89 ,  B60W40/10

Abstract: A system in a vehicle includes a lidar system to transmit incident light and receive reflections from one or more objects as a point cloud of points. The system also includes processing circuitry to identify planar points and to identify edge points of the point cloud. Each set of planar points forms a linear pattern and each edge point is between two sets of planar points, and the processing circuitry identifies each point of the points of the point cloud as being within a virtual beam among a set of virtual beams. Each virtual beam of the set of virtual beams representing a horizontal band of the point cloud.

公开(公告)号：US12174301B2

公开(公告)日：2024-12-24

申请号：US17350780

申请日：2021-06-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yao Hu ,  Xinyu Du ,  Wende Zhang ,  Hao Yu

IPC: G01S17/931 ,  B60W60/00

Abstract: A LIDAR-to-LIDAR alignment system includes a memory and an autonomous driving module. The memory stores first and second points based on outputs of first and second LIDAR sensors. The autonomous driving module performs a validation process to determine whether alignment of the LIDAR sensors satisfy an alignment condition. The validation process includes: aggregating the first and second points in a vehicle coordinate system to provide aggregated LIDAR points; based on the aggregated LIDAR points, performing (i) a first method including determining pitch and roll differences between the first and second LIDAR sensors, (ii) a second method including determining a yaw difference between the first and second LIDAR sensors, or (iii) point cloud registration to determine rotation and translation differences between the first and second LIDAR sensors; and based on results of the first method, the second method or the point cloud registration, determining whether the alignment condition is satisfied.

公开(公告)号：US20240404107A1

公开(公告)日：2024-12-05

申请号：US18328862

申请日：2023-06-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Hongtao Wang ,  Wende Zhang ,  Hao Yu

IPC: G06T7/80 ,  G01C21/16

Abstract: Methods, apparatus, and systems for sensor alignment include acquiring a translational vector, a first calibration point location and a second calibration point location, determining an expected rotational orientation in response to the translational vector, the first calibration point location and the second calibration point location, capturing an image of the a first calibration point and the second calibration point, determining a first position of the first calibration point and a second position of the second calibration point in response to the image, calculating a calculated rotational orientation in response to the first position of the first calibration point and the second position of the second calibration point, determining a calibration value in response to the calculated rotational orientation, storing the calibration value and controlling a vehicle in response to the calibration value and a subsequent image.

公开(公告)号：US20240312059A1

公开(公告)日：2024-09-19

申请号：US18183423

申请日：2023-03-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yousef A. Omar ,  Hongtao Wang ,  Hao Yu ,  Wende Zhang

IPC: G06T7/80 ,  G01S7/497 ,  G01S17/89 ,  G06T7/70 ,  G06V20/56

CPC classification number: G06T7/80 ,  G01S7/497 ,  G01S17/89 ,  G06T7/70 ,  G06V20/56 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Method for sensor alignment including detecting a depth point cloud including a first object and a second object, generating a first control point in response to a location of the first object within the depth point cloud and a second control point in response to a location of the second object within the depth point cloud, capturing an image of a second field of view including a third object, generating a third control point in response to a location of the third object detected in response to the image, calculating a first reprojection error in response to the first control point and the third control point and a second reprojection error in response to the second control point and the third control point, generating an extrinsic parameter in response to the first reprojection error in response to the first reprojection error being less than the second reprojection error.