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公开(公告)号：US10974730B2
公开(公告)日：2021-04-13
申请号：US16139782
申请日：2018-09-24
Applicant: GM Global Technology Operations LLC
Inventor： Yao Hu , Wen-Chiao Lin , Wei Tong , Paul E. Krajewski
Abstract: A method of on-line diagnostic and prognostic assessment of an autonomous vehicle perception system includes detecting, via a sensor, a physical parameter of an object external to the vehicle. The method also includes communicating data representing the physical parameter via the sensor to an electronic controller. The method additionally includes comparing the data from the sensor to data representing the physical parameter generated by a geo-source model. The method also includes comparing results generated by a perception software during analysis of the data from the sensor to labels representing the physical parameter from the geo-source model. Furthermore, the method includes generating a prognostic assessment of a ground truth for the physical parameter of the object using the comparisons of the sensor data to the geo-source model data and of the software results to the geo-source model labels. A system for on-line assessment of the vehicle perception system is also disclosed.
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公开(公告)号：US20210039521A1
公开(公告)日：2021-02-11
申请号：US16535642
申请日：2019-08-08
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yasen Hu , Kausalya Singuru , Shiming Duan , Yao Hu , Nicholas W. Pinto , Bradley R. Frieberg
Abstract: A system and method for personalization of adjustable features of a vehicle. The system includes a processor and an actuator. The processor detectors key points of a person from a two-dimensional image and predicts a pose of the person. The processor translates a respective position of the key points from a two-dimensional coordinate system to a three-dimensional coordinate system based in part on the pose and measurements of distances between the key points. The processor determines a baseline configuration of an adjustable feature of the vehicle based in part on measurements between the key points in the three-dimensional coordinate system. The processor causes an actuator to adjust the adjustable feature to conform to the baseline configuration.
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公开(公告)号：US20200066066A1
公开(公告)日：2020-02-27
申请号：US16107074
申请日：2018-08-21
Applicant: GM Global Technology Operations LLC
Inventor： Yao Hu , Atul Nagose , Thomas L. Grime , Faez Yahya
Abstract: A fluidic subsystem disposed on a vehicle includes an electric motor, a motor driver, and a fluidic pump that is disposed in a fluidic circuit that is monitored by a pressure sensor. A controller includes an instruction set that is executable to dynamically observe operation of the fluidic subsystem, from which it determines a plurality of observed parameters associated with the operation of the fluidic subsystem and a plurality of estimated parameters associated with the fluidic subsystem. A plurality of fault isolation parameters are determined based upon the observed parameters and the estimated parameters, and a fault in the fluidic subsystem is isolated based upon the fault isolation parameters. The isolated fault is communicated via the controller.
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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
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.
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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.
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Patent Agency Ranking
公开(公告)号：US20240095061A1
公开(公告)日：2024-03-21
申请号：US17947244
申请日：2022-09-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Xinyu Du , Guanlun He , Yao Hu , Binbin Li , Hao Yu
Abstract: A computer-implemented method for aligning a sensor to reference coordinate system includes initiating a plurality of threads, each thread executes simultaneously and independent of each other. A first thread parses data received from the sensor and stores the parsed data in a data buffer. A second thread computes an alignment transformation using the parsed data to determine alignment between the sensor and the reference coordinate system. The computing includes checking that the data buffer contains at least predetermined amount of data. If at least the predetermined amount of data exists, an intermediate result is computed using the parsed data in the data buffer; otherwise, the second thread waits for the first thread to add more data to the data buffer. The second thread outputs the intermediate result into the data buffer. A third thread outputs the alignment transformation, in response to completion of alignment computations.
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公开(公告)号：US20230368547A1
公开(公告)日：2023-11-16
申请号：US17740625
申请日：2022-05-10
Applicant: GM Global Technology Operations LLC
Inventor： Wen-Chiao Lin , Zhongyu Yang , Xinyu Du , Yao Hu , Shengbing Jiang , Yilu Zhang , Sidi Lu
CPC classification number: G06V20/588 , B60W40/06 , B60W2420/42 , B60W2552/53
Abstract: A vehicle, and a system and method of navigating the vehicle. The system includes a camera and a processor. The camera obtains an image of a road upon which the vehicle is moving. The processor is configured to extract a feature of the road from the image, perform a lane detection algorithm to detect a set of lane markers in the road using the image and the feature, and move the vehicle along the road by tracking the set of lane markers.
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公开(公告)号：US20230260291A1
公开(公告)日：2023-08-17
申请号：US17651405
申请日：2022-02-16
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： BINBIN LI , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC classification number: G06V20/588 , B60W30/025 , B60W2420/42 , B60W2552/53 , B60W2420/52
Abstract: Methods and systems for a vehicle are provided. In one embodiment, the method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, the ground normal vector based on a sliding widow method; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.
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公开(公告)号：US20230215045A1
公开(公告)日：2023-07-06
申请号：US17567371
申请日：2022-01-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yao Hu , Xinyu Du , Binbin Li , Hao Yu , Wende Zhang
CPC classification number: G06T7/80 , G06T7/73 , G06V20/58 , G06T2207/30252 , G06T2207/10016 , B60R11/04
Abstract: A system for on-vehicle camera alignment monitoring includes an on-vehicle camera in communication with a controller. The controller monitors vehicle operating parameters and camera signal parameters, and captures an image file from the on-vehicle camera. A first level analysis of the image file, the vehicle operating parameters, and the camera signal parameters is executed to detect dynamic conditions and image feature parameters that affect camera alignment. An error with one of the dynamic conditions or the image feature parameters that affects the camera alignment is detected. A second level analysis of the camera signal parameters is executed to identify a root cause indicating one of the dynamic conditions or the image feature parameters that affects the camera alignment based upon the error. A camera alignment-related fault is detected based upon the root cause, and vehicle operation is controlled based upon the camera alignment-related fault.
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30.发明申请公开(公告)号：US20230137464A1
公开(公告)日：2023-05-04
申请号：US17518169
申请日：2021-11-03
Applicant: GM Global Technology Operations LLC
Inventor： Yao Hu , Xinyu Du , Wende Zhang , Hao Yu
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 feature points among the points of the point cloud using principal component analysis. The feature points are planar points that form one or more surfaces or edge points. A set of edge points forms a linear surface.
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