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公开(公告)号：US20230281872A1
公开(公告)日：2023-09-07
申请号：US17688157
申请日：2022-03-07
Applicant: GM Global Technology Operations LLC
Inventor： Farui Peng , Hao Yu
CPC classification number: G06T7/80 , G06T7/73 , G06T7/246 , G06T7/292 , G06T2207/30248
Abstract: A system for determining calibrated camera extrinsic parameters for an autonomous vehicle includes a camera mounted to the autonomous vehicle collecting image data including a plurality of image frames. The system also includes one or more automated driving controllers in electronic communication with the camera that executes instructions to determine a vehicle pose estimate based on position and movement of the autonomous vehicle by a localization algorithm. The one or more automated driving controllers determine the calibrated camera extrinsic parameters based on three dimensional coordinates for specific feature points of interests corresponding to two sequential image frames, the specific feature points of interests corresponding to the two sequential image frames, and the camera pose corresponding to the two sequential image frames.
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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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34.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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公开(公告)号：US20220390607A1
公开(公告)日：2022-12-08
申请号：US17339626
申请日：2021-06-04
Applicant: GM Global Technology Operations LLC
Inventor： Xinyu Du , Yao Hu , Wende Zhang , Hao Yu
Abstract: A LIDAR-to-vehicle alignment system includes a memory and an autonomous driving module. The memory stores points of data provided based on an output of a LIDAR sensor and GPS locations. The autonomous driving module performs an alignment process including performing feature extraction on the points of data to detect one or more features of one or more predetermined types of objects having one or more predetermined characteristics. The features are determined to correspond to one or more targets because the features have the predetermined characteristics. One or more of the GPS locations are of the targets. The alignment process further includes: determining ground-truth positions of the features; correcting the GPS locations based on the ground-truth positions; calculating a LIDAR-to-vehicle transform based on the corrected GPS locations; and based on results of the alignment process, determining whether one or more alignment conditions are satisfied.
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Patent Agency Ranking
公开(公告)号：US20210373138A1
公开(公告)日：2021-12-02
申请号：US16887397
申请日：2020-05-29
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shengbing Jiang , Yao Hu , Xinyu Du , Wen-Chiao Lin , Hao Yu , Shiming Duan
IPC: G01S7/497 , G01S17/931 , B60W50/00 , B60W60/00
Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: recording, by a controller onboard the vehicle, lidar data from the lidar device while the vehicle is travelling on a straight road; determining, by the controller, that the vehicle is travelling straight on the straight road; detecting, by the controller, straight lane marks on the straight road; computing, by the controller, lidar boresight parameters based on the straight lane marks; calibrating, by the controller, the lidar device based on the lidar boresight parameters; and controlling, by the controller, the vehicle based on data from the calibrated lidar device.
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公开(公告)号：US10990834B2
公开(公告)日：2021-04-27
申请号：US16218550
申请日：2018-12-13
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Nathaniel W. Hart , Robert D. Sims, III , Hao Yu
Abstract: The present application generally relates to a method and apparatus for object detection in a location obscured from a camera field of view in a motor vehicle. In particular, the system is operative to illuminate a FOV from a low angle using a light source, capture an image of the FOV from a high angle and to detect a shadow within the image indicative of an object being illuminated by the light source.
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公开(公告)号：US12106518B2
公开(公告)日：2024-10-01
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 , B60R11/04 , G06T2207/10016 , G06T2207/30252
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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公开(公告)号：US11989893B2
公开(公告)日：2024-05-21
申请号：US17655888
申请日：2022-03-22
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef Omar , Wende Zhang , Hao Yu
CPC classification number: G06T7/37 , B60R1/22 , G01S17/87 , G01S17/89 , G06F18/2321 , G06F18/251 , G06V20/58 , G06T2207/20081 , G06T2207/30252
Abstract: Systems and methods are provided for generating alignment parameters for processing data associated with a vehicle. In one embodiment, a method includes: receiving image data associated with an environment of the vehicle; receiving lidar data associated with the environment of the vehicle; processing, by a processor, the image data to determine data points associated with at least one pole identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one pole identified within the lidar data; selectively storing the data points as data point pairs in a data buffer; iteratively processing, by the processor, the data point pairs with a plurality of perturbations to determine a transformation matrix; generating, by the processor, alignment data based on the transformation matrix; and processing future data based on the alignment parameters.
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公开(公告)号：US20230256975A1
公开(公告)日：2023-08-17
申请号：US17651406
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: B60W40/10 , G06V20/58 , B60W2420/42 , B60W2552/53
Abstract: Systems and methods for a vehicle are provided. In one embodiment, a method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; receiving vehicle data indicating a velocity of the vehicle, wherein the vehicle data is associated with the image data; determining, by a processor, feature points within at least one image based on the vehicle data and a three dimensional projection method; 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, 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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