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公开(公告)号：US10013617B2
公开(公告)日：2018-07-03
申请号：US14957968
申请日：2015-12-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Jinsong Wang , Qi Zhang , Bakhtiar B. Litkouhi , Wende Zhang
CPC classification number: G06K9/00798 , B60Q9/00 , B60R1/00 , B60R11/04 , B60R2300/8053 , G06K9/00791 , G06K9/4661 , H04N7/181
Abstract: A method for determining a snow covered surface condition of a path of travel. A beam of light is emitted at a surface of the path of travel by a light emitting source. An image of a path of travel surface is captured by an image capture device. The image capture device is mounted on the vehicle and captures an image in a downward direction. The captured image captures the beam of light emitted on the path of travel surface. Analyzing a subsurface scattering of the light generated on the path of travel surface by a processor. A determination is made whether snow is present on the path of travel. A snow covered path of travel surface signal is generated in response to the identification of snow on the path of travel.
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公开(公告)号：US20180113331A1
公开(公告)日：2018-04-26
申请号：US15334136
申请日：2016-10-25
Applicant: GM Global Technology Operations LLC
Inventor： Jinsong Wang , Allan K. Lewis , Qingrong Zhao , Michael T. Chaney, JR. , Robert D. Sims, III , Wende Zhang , Xiaosong Huang
CPC classification number: G02F1/0102 , B60S1/56 , G02B27/0006 , G02F1/0136 , G02F2203/055
Abstract: A smart sensor-cover apparatus for covering a sensor, such as a vehicle sensor, includes controllable layers, responsive to inputs, such as a wavelength-filtering controllable layer to selectively filter out select wavelengths of light; a polarizing layer controllable layer to selectively polarize or allow through light; a concealing controllable layer to change between a visible state and a concealed state; and an outermost, cleaning, layer configured to melt incident ice. The outermost layer in various embodiments has an outer surface positioned generally flush with an outer vehicle surface for operation of the apparatus, to promote the concealing effect when the concealing layer is not activate. The outermost layer may be configured to self-mend when scratched, and in some cases is hydrophobic, hydrophilic, or super hydrophilic outer surface. An insulating component, such as a glass or polycarbonate layer, is positioned between each adjacent controllable layer.
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33.发明公开公开(公告)号：US20240174246A1
公开(公告)日：2024-05-30
申请号：US18060023
申请日：2022-11-30
Inventor： Amir Khajepour , Chao Yu , Yubiao Zhang , Qingrong Zhao , SeyedAlireza Kasaiezadeh Mahabadi
CPC classification number: B60W50/10 , B60W40/10 , B60W50/0097
Abstract: A system for learning-model predictive control (LMPC) with multi-step prediction for motion control of a vehicle includes sensors and actuators. One or more control modules each having a processor, a memory, and input/output (I/O) ports are in communication with the sensors and actuators, the processor executing program code portions stored in the memory. The program code portions cause the sensors and actuators to obtain vehicle state information, receive a driver input, and generate a desired dynamic output based on the driver input and the vehicle state information. A program code portion estimates actions of the actuators based on the vehicle state information and the driver input, and utilizes the vehicle state information, the driver input, and the estimated actions of the actuators to select one or more models of a physics-based vehicle model and a machine-learning model of the vehicle to selectively adjust commands to the actuators.
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公开(公告)号：US11613234B1
公开(公告)日：2023-03-28
申请号：US17568905
申请日：2022-01-05
Applicant: GM Global Technology Operations LLC
Inventor： Yubiao Zhang , Qingrong Zhao , Bakhtiar B. Litkouhi
Abstract: A system and method of automatically activating a windshield wiper system of a vehicle having a front windshield with a front wiper and a rear windshield with a rear wiper are provided. The method comprises assessing at least one windshield classification of road conditions based on original information and capturing a front image of the front windshield, a rear image of the rear windshield, and an environment image of the environment. The method further comprises classifying the images to define a first windshield class. The method further comprises determining a front windshield perception, a rear windshield perception, and an environment perception of the first windshield class to define a first combination of detection sources. The method further comprises fusing the front windshield perception, the rear windshield perception and the environment perception, defining a first front probability of the first windshield class. The method further comprises activating the front wiper when the first front probability is greater than a front threshold.
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公开(公告)号：US11492006B2
公开(公告)日：2022-11-08
申请号：US16944911
申请日：2020-07-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Bakhtiar B. Litkouhi , Mohsen Khalili
IPC: B60W40/06 , B60W30/18 , B60W60/00 , B60W40/105 , B60R19/48 , G06K9/62 , G06N3/08 , G06V10/40 , G06V20/56
Abstract: Methods and systems are provided for controlling a vehicle action based on a condition of a road on which a vehicle is travelling, including: obtaining first sensor data as to a surface of the road from one or more first sensors onboard the vehicle; obtaining second sensor data from one or more second sensors onboard the vehicle as to a measured parameter pertaining to operation of the vehicle or conditions pertaining thereto; generating a plurality of road surface channel images from the first sensor data, wherein each road surface channel image captures one of a plurality of facets of properties of the first sensor data; classifying, via a processor using a neural network model, the condition of the road on which the vehicle is travelling, based on the measured parameter and the plurality of road surface channel images; and controlling a vehicle action based on the classification of the condition of the road.
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Patent Agency Ranking
公开(公告)号：US11226620B2
公开(公告)日：2022-01-18
申请号：US16271272
申请日：2019-02-08
Applicant: GM Global Technology Operations LLC
Inventor： Qingrong Zhao , Bakhtiar B. Litkouhi , Nikolai K. Moshchuk
IPC: G05D1/00 , G05D1/02 , B60W40/068 , B60W40/107 , B60Q9/00
Abstract: Presented are automated driving systems for executing intelligent vehicle operations in mixed-mu road conditions, methods for making/using such systems, and vehicles with enhanced headway control for transitional surface friction conditions. A method for executing an automated driving operation includes a vehicle controller receiving sensor signals indicative of road surface conditions of adjoining road segments, and determining, based on these sensor signals, road friction values for the road segments. The controller determines whether the road friction value is increasing or decreasing, and if a difference between the road friction values is greater than a calibrated minimum differential. Responsive to the friction difference being greater than the calibrated minimum differential and the road friction value decreasing, the vehicle controller executes a first vehicle control action. Conversely, if the friction difference is greater than the calibrated minimum but the road friction value is increasing, the controller responsively executes a second vehicle control action.
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公开(公告)号：US20210213955A1
公开(公告)日：2021-07-15
申请号：US16743419
申请日：2020-01-15
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Mohsen Khalili , Bakhtiar B. Litkouhi
Abstract: A method for evaluating a travel surface proximal to the vehicle is described, and includes generating, by the LiDAR sensor, a plurality of light pulses and capturing, by the LiDAR sensor, returned light data for the plurality of light pulses, wherein the light pulses are projected into a region of interest that includes the travel surface proximal to the vehicle, determining a multi-level image file based upon the returned light data for the plurality of light pulses, generating a trained classification model, and classifying the travel surface as one of a plurality of travel surface states based upon the multi-level image file and the trained classification model. Operation of the vehicle is controlled based upon the classifying of the travel surface.
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38.发明申请公开(公告)号：US20190250630A1
公开(公告)日：2019-08-15
申请号：US15896104
申请日：2018-02-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Mohsen Khalili , Jinsong Wang , Bakhtiar B. Litkouhi
Abstract: Systems, Methods and Apparatuses are provided for detecting surface conditions, which includes: an image scene captured by a camera wherein the image scene includes: a set of a plurality of regions of interest (ROIs); and a processor configured to receive the image scene to: extract at least a first and a second ROI from the set of the plurality of ROIs of the image scene; associate the first ROI with an above-horizon region and associate the second ROI with a surface region; analyze the first ROI and the second ROI in parallel for a condition related to an ambient lighting in the first ROI and for an effect related to the ambient lighting in the second ROI; and extract from the first ROI features of the condition of the ambient lighting and extract from the second ROI features of the effect of the ambient lighting on a surface region.
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公开(公告)号：US20190188495A1
公开(公告)日：2019-06-20
申请号：US15845381
申请日：2017-12-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Jinsong Wang , Bakhtiar B. Litkouhi , Jingfu Jin , Tianyu Wang
Abstract: A vehicle includes a plurality of on-vehicle cameras, and a controller executes a method to evaluate a travel surface by capturing images for fields of view of the respective cameras. Corresponding regions of interest for the images are identified, wherein each of the regions of interest is associated with the portion of the field of view of the respective camera that includes the travel surface. Portions of the images are extracted, wherein each extracted portion is associated with the region of interest in the portion of the field of view of the respective camera that includes the travel surface and wherein one extracted portion of the respective image includes the sky. The extracted portions of the images are compiled into a composite image datafile, and an image analysis of the composite image datafile is executed to determine a travel surface state. The travel surface state is communicated to another controller.
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公开(公告)号：US09972206B2
公开(公告)日：2018-05-15
申请号：US14957943
申请日：2015-12-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Qingrong Zhao , Jinsong Wang , Qi Zhang , Bakhtiar B. Litkouhi
IPC: G08G1/0967 , B60K31/16 , B60T8/171 , B60T8/175 , G08G1/0965 , G01S13/95 , G06K9/00 , G08G1/04 , G08G1/0962 , B60T8/172 , B60R16/023
CPC classification number: G08G1/096791 , B60K31/16 , B60R16/0237 , B60R2300/8053 , B60T8/171 , B60T8/172 , B60T8/175 , B60T2210/12 , B60T2210/13 , G01S13/867 , G01S13/95 , G06K9/00791 , G08G1/04 , G08G1/09626 , G08G1/0965
Abstract: A method for determining a wet surface condition of a road. Capturing an image of a wheel of a remote vehicle traveling in an adjacent lane by an image capture device of a host vehicle. Identifying in the captured image, by processor of a host vehicle, a region of interest relative to the wheel where the region of interest is representative of where precipitation dispersion occurs. A determination is made whether precipitation is present in the region of interest. A wet road surface signal is generated in response to the identification of precipitation in the adjacent lane.
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