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公开(公告)号：US20220248194A1
公开(公告)日：2022-08-04
申请号：US17162452
申请日：2021-01-29
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Can Carlak , Jimmy Qi , Shuqing Zeng , Fan Bai
Abstract: A latency masking system for use in an autonomous vehicle (AV) system. The latency masking system comprises a sensors module providing sensor data from a plurality of sensors. The sensor data includes image frames provided by a vehicle camera and vehicle motion data. A wireless transceiver transmits the sensor data to a remote server associated with a network infrastructure and receives remote state information derived from the sensor data. An on-board function module receives the sensor data from the sensors module and generates local state information. A state fusion and prediction module receives the remote station information and the local state information and updates the local state information with the remote state information. The state fusion and prediction module uses checkpoints in a state history data structure to update the local state information with the remote state information.
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公开(公告)号：US20220222129A1
公开(公告)日：2022-07-14
申请号：US17147043
申请日：2021-01-12
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shige WANG , Wei Tong , Shuqing Zeng
Abstract: A system includes a queue, a memory and a controller. The queue is configured to transfer a message between a first thread and a second thread, where the first thread and the second thread are implemented as part of a single process, and where an amount of data corresponding to the message is less than a set amount of data. The memory is configured for sharing data between the first thread and the second thread, wherein an amount of the data shared between the first thread and the second thread is greater than the set amount of data. The controller is configured to execute the single process including concurrently executing (i) a first middleware node process as the first thread, and (ii) a second middleware node process as the second thread.
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43.发明授权公开(公告)号：US10984534B2
公开(公告)日：2021-04-20
申请号：US16367579
申请日：2019-03-28
Applicant: GM Global Technology Operations LLC
Inventor： Wei Tong , Shuqing Zeng , Upali P. Mudalige
Abstract: Systems and methods to identify an attention region in sensor-based detection involve obtaining a detection result that indicates one or more detection areas where one or more objects of interest are detected. The detection result is based on using a first detection algorithm. The method includes obtaining a reference detection result that indicates one or more reference detection areas where one or more objects of interest are detected. The reference detection result is based on using a second detection algorithm. The method also includes identifying the attention region as one of the one or more reference detection areas without a corresponding one or more detection areas. The first detection algorithm is used to perform detection in the attention region.
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公开(公告)号：US20210086695A1
公开(公告)日：2021-03-25
申请号：US16579896
申请日：2019-09-24
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Brian Mahnken , Bradford G. Schreiber , Jeffrey Louis Brown , Shawn W. Ryan , Brent T. Deep , Kurt A. Heier , Upali P. Mudalige , Shuqing Zeng
Abstract: The present application relates to a method and apparatus for generating a graphical user interface indicative of a vehicle underbody view including a LIDAR operative to generate a depth map of an off-road surface, a camera for capturing an image of the off-road surface, a chassis sensor operative to detect an orientation of a host vehicle, a processor operative to generate an augmented image in response to the depth map, the image and the orientation, wherein the augmented image depicts an underbody view of the host vehicle and a graphic representative of a host vehicle suspension system, and a display operative to display the augmented image to a host vehicle operator. A static and dynamic model of the vehicle underbody is compared vs the 3-D terrain model to identify contact points between the underbody and terrain are highlighted.
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公开(公告)号：US10909390B2
公开(公告)日：2021-02-02
申请号：US16170478
申请日：2018-10-25
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shuqing Zeng , Wei Tong , Shige Wang , Roman L. Millett
Abstract: Examples of techniques for using fixed-point quantization in deep neural networks are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes capturing a plurality of images at a camera associated with a vehicle and storing image data associated with the plurality of images to a memory. The method further includes dispatching vehicle perception tasks to a plurality of processing elements of an accelerator in communication with the memory. The method further includes performing, by at least one of the plurality of processing elements, the vehicle perception tasks for the vehicle perception using a neural network, wherein performing the vehicle perception tasks comprises quantizing a fixed-point value based on an activation input and a synapse weight. The method further includes controlling the vehicle based at least in part on a result of performing the vehicle perception tasks.
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Patent Agency Ranking
公开(公告)号：US20210018928A1
公开(公告)日：2021-01-21
申请号：US16515592
申请日：2019-07-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Lawrence A. Bush , Upali P. Mudalige , Zachariah E. Tyree , Wei Tong , Shuqing Zeng
Abstract: Methods and systems are provided for detecting objects within an environment of a vehicle. In one embodiment, a method includes: receiving, by a processor, image data sensed from the environment of the vehicle; determining, by a processor, an area within the image data that object identification is uncertain; controlling, by the processor, a position of a lighting device to illuminate a location in the environment of the vehicle, wherein the location is associated with the area; controlling, by the processor, a position of one or more sensors to obtain sensor data from the location of the environment of the vehicle while the lighting device is illuminating the location; identifying, by the processor, one or more objects from the sensor data; and controlling, by the processor, the vehicle based on the one or more objects.
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47.发明申请公开(公告)号：US20200167941A1
公开(公告)日：2020-05-28
申请号：US16200932
申请日：2018-11-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wei Tong , Shuqing Zeng , Mohannad Murad , Alaa M. Khamis
Abstract: Systems and methods for depth estimation of images from a mono-camera by use of radar data by: receiving, a plurality of input 2-D images from the mono-camera; generating, by the processing unit, an estimated depth image by supervised training of an image estimation model; generating, by the processing unit, a synthetic image from a first input image and a second input image from the mono-camera by applying an estimated transform pose; comparing, by the processing unit, an estimated three-dimensional (3-D) point cloud to radar data by applying another estimated transform pose to a 3-D point cloud wherein the 3-D point cloud is estimated from a depth image by supervised training of the image estimation model to radar distance and radar doppler measurement; correcting a depth estimation of the estimated depth image by losses derived from differences: of the synthetic image and original images; of an estimated depth image and a measured radar distance; and of an estimated doppler information and measured radar doppler information.
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公开(公告)号：US10657617B1
公开(公告)日：2020-05-19
申请号：US16199898
申请日：2018-11-26
Applicant: GM Global Technology Operations LLC
Inventor： Shige Wang , Wei Tong , Shuqing Zeng , Roman L. Millett
IPC: G06T1/00 , G06T1/20 , G06F9/48 , G06F9/54 , G06F3/06 , G06T7/73 , G06K9/62 , G06T7/80 , G06F9/38 , G06T1/60
Abstract: A method and system including a central processing unit (CPU), an accelerator, a communication bus and a system memory device for dynamically processing an image file are described. The accelerator includes a local memory buffer, a data transfer scheduler, and a plurality of processing engines. The data transfer scheduler is arranged to manage data transfer between the system memory device and the local memory buffer, wherein the data transfer includes data associated with the image file. The local memory buffer is configured as a circular line buffer, and the data transfer scheduler includes a ping-pong buffer for transferring output data from the one of the processing engines to the system memory device. The local memory buffer is configured to execute cross-layer usage of data associated with the image file.
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公开(公告)号：US20200065661A1
公开(公告)日：2020-02-27
申请号：US16107315
申请日：2018-08-21
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Wei Tong , Shuqing Zeng , Upali P. Mudalige , Shige Wang
Abstract: Described herein are systems, methods, and computer-readable media for generating and training a high precision low bit convolutional neural network (CNN). A filter of each convolutional layer of the CNN is approximated using one or more binary filters and a real-valued activation function is approximated using a linear combination of binary activations. More specifically, a non-1×1 filter (e.g., a k×k filter, where k>1) is approximated using a scaled binary filter and a 1×1 filter is approximated using a linear combination of binary filters. Thus, a different strategy is employed for approximating different weights (e.g., 1×1 filter vs. a non-1×1 filter). In this manner, convolutions performed in convolutional layer(s) of the high precision low bit CNN become binary convolutions that yield a lower computational cost while still maintaining a high performance (e.g., a high accuracy).
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公开(公告)号：US10572748B2
公开(公告)日：2020-02-25
申请号：US15833382
申请日：2017-12-06
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Shige Wang , Wei Tong , Shuqing Zeng , Roman Millett
Abstract: An adaptive parallel imaging processing system in a vehicle is provided. The system may include, but is not limited to, a plurality of processors and a resource management system including, but not limited to, an execution monitor, the execution monitor configured to calculate an average utilization of each of the plurality of processors over a moving window, and a service scheduler controlling a request queue for each of the plurality of processors, the service scheduler scheduling image processing tasks in the respective request queue for the each of the plurality of processors based upon the average utilization of each of the plurality of processors, the capabilities of each of the plurality of processors, and a priority associated with each image processing task, wherein an autonomous vehicle control system is configured to generate the instructions to control the at least one vehicle system based upon the processed image processing tasks.
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