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31.发明授权公开(公告)号：US11977149B2
公开(公告)日：2024-05-07
申请号：US17511968
申请日：2021-10-27
Applicant: GM Global Technology Operations LLC
Inventor： Kamran Ali , Wende Zhang , Fan Bai
CPC classification number: G01S13/89 , B60W60/001 , G01S7/298 , G01S7/40 , B60W2420/408
Abstract: A scan aggregator and filter for an autonomous vehicle includes a plurality of radar sensors, where each radar sensor performs a plurality of individual scans of a surrounding environment to obtain data in the form of a radar point cloud including a plurality of detection points. The scan aggregator and filter also includes an automated driving controller in electronic communication with the plurality of radar sensors. The automated driving controller is instructed to filter each of the individual scans to define a spatial region of interest and to remove the detection points of the radar point cloud that represent moving objects based on a first outlier-robust model estimation algorithm. The automated driving controller aggregates a predefined number of individual scans together based on a motion compensated aggregation technique to create an aggregated data scan and applies a plurality of density-based clustering algorithms to filter the aggregated data scan.
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公开(公告)号：US20230298355A1
公开(公告)日：2023-09-21
申请号：US17655531
申请日：2022-03-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Yousef Omar , Mark Wolski , Hao Yu , Wende Zhang
CPC classification number: G06V20/58 , G06T7/13 , G06T7/55 , G06T7/30 , B60W40/10 , B60W40/12 , B60W2420/52 , B60W2420/42
Abstract: Systems and methods 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 vehicle identified within image data; processing, by the processor, the lidar data to determine data points associated with at least one vehicle identified within the lidar data; selectively storing the data points in a data buffer based on at least one condition associated with a quality of the data points; processing, by the processor, the data points in the data buffer with a joint analysis method to generate alignment parameters between the lidar and the camera; and processing future data based on the alignment parameters.
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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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35.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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Patent Agency Ranking
36.发明申请公开(公告)号：US20230126749A1
公开(公告)日：2023-04-27
申请号：US17511968
申请日：2021-10-27
Applicant: GM Global Technology Operations LLC
Inventor： Kamran Ali , Wende Zhang , Fan Bai
Abstract: A scan aggregator and filter for an autonomous vehicle includes a plurality of radar sensors, where each radar sensor performs a plurality of individual scans of a surrounding environment to obtain data in the form of a radar point cloud including a plurality of detection points. The scan aggregator and filter also includes an automated driving controller in electronic communication with the plurality of radar sensors. The automated driving controller is instructed to filter each of the individual scans to define a spatial region of interest and to remove the detection points of the radar point cloud that represent moving objects based on a first outlier-robust model estimation algorithm. The automated driving controller aggregates a predefined number of individual scans together based on a motion compensated aggregation technique to create an aggregated data scan and applies a plurality of density-based clustering algorithms to filter the aggregated data scan.
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公开(公告)号：US20230074620A1
公开(公告)日：2023-03-09
申请号：US17470454
申请日：2021-09-09
Applicant: GM Global Technology Operations LLC
Inventor： Wende Zhang , Esther Anderson , Robert A. Dziurda , Mark T. Gaylord
Abstract: Examples described herein provide a computer-implemented method that includes receiving first data from a sensor of a vehicle. The method further includes determining, by a processing device, whether an incident external to the vehicle has occurred by processing the first data using a machine learning model. The method further includes, responsive to determining that an incident external to the vehicle has occurred, initiating recording of second data by the sensor. The method further includes, responsive to determining that an incident external to the vehicle has occurred, taking an action to control the vehicle.
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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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公开(公告)号：US10528832B2
公开(公告)日：2020-01-07
申请号：US15954855
申请日：2018-04-17
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Upali P. Mudalige , Donald K. Grimm , Wende Zhang
Abstract: Methods and systems are provided for processing attention data. In one embodiment, a method includes: receiving, by a processor, object data associated with at least one object of an exterior environment of the vehicle; receiving upcoming behavior data determined from a planned route of the vehicle; receiving gaze data sensed from an occupant of the vehicle; processing, by the processor, the object data, the upcoming behavior data, and the gaze data to determine an attention score associated with an attention of the occupant of the vehicle; and selectively generating, by the processor, signals to at least one of notify the occupant and control the vehicle based on the attention score.
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公开(公告)号：US10349011B2
公开(公告)日：2019-07-09
申请号：US15676584
申请日：2017-08-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Jiang Du , Fan Bai , Donald K. Grimm , Wende Zhang , Xi Ju
Abstract: A system and method is taught for collaborative vehicle to all (V2X) communications to improve autonomous driving vehicle performance in a heterogeneous capability environment by sharing capabilities among different vehicles. In particular, the system and method are operative to receive an image from a proximate vehicle and to augment a display within the host vehicle by providing a view of objects with an area of obstructed view.
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