公开(公告)号：US09139204B1

公开(公告)日：2015-09-22

申请号：US14302642

申请日：2014-06-12

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Qingrong Zhao ,  Jinsong Wang ,  Wende Zhang ,  Bakhtiar Brian Litkouhi

IPC: G01C21/00 ,  B60W40/064 ,  G06K9/00 ,  G06K9/62

CPC classification number: G01C21/00 ,  B60W40/06 ,  B60W40/068 ,  B60W50/0098 ,  B60W2050/0088 ,  B60W2420/42 ,  B60W2550/12 ,  B60W2550/141 ,  B60W2550/20 ,  Y02T10/6286

Abstract: A method of determining a road surface condition for a vehicle driving on a road. Probabilities associated with a plurality of road surface conditions based on an image of a capture scene are determined by a first probability module. Probabilities associated with the plurality of road surface conditions based on vehicle operating data are determined by a second probability module. The probabilities determined by the first and second probability modules are input to a data fusion unit for fusing the probabilities and determining a road surface condition. A refined probability is output from the data fusion unit that is a function of the fused first and second probabilities. The refined probability from the data fusion unit is provided to an adaptive learning unit. The adaptive learning unit generates output commands that refine tunable parameters of at least the first probability and second probability modules for determining the respective probabilities.

Abstract translation: 一种确定用于在道路上行驶的车辆的路面状况的方法。 基于捕获场景的图像与多个路面条件相关联的概率由第一概率模块确定。 基于车辆操作数据与多个路面条件相关联的概率由第二概率模块确定。 将由第一和第二概率模块确定的概率输入到数据融合单元，用于融合概率并确定路面状况。 从作为融合的第一和第二概率的函数的数据融合单元输出精确概率。 将来自数据融合单元的精确概率提供给自适应学习单元。 自适应学习单元产生输出命令，其精细化至少第一概率和第二概率模块的可调参数，以确定相应的概率。

公开(公告)号：US20150109444A1

公开(公告)日：2015-04-23

申请号：US14071982

申请日：2013-11-05

Applicant: GM Global Technology Operations LLC

Inventor： Wende Zhang ,  Jinsong Wang ,  Bakhtiar B. Litkouhi ,  Dennis B. Kazensky ,  Jeffrey S. Piasecki ,  Charles A. Green ,  Ryan M. Frakes ,  Raymond J. Kiefer

IPC: B60Q9/00

CPC classification number: B60Q9/008 ,  G06K9/00805 ,  H04N7/188

Abstract: A method of displaying a captured image on a display device of a driven vehicle. A scene exterior of the driven vehicle is captured by an at least one vision-based imaging and at least one sensing device. A time-to-collision is determined for each object detected. A comprehensive time-to-collision is determined for each object as a function of each of the determined time-to-collisions for each object. An image of the captured scene is generated by a processor. The image is dynamically expanded to include sensed objects in the image. Sensed objects are highlighted in the dynamically expanded image. The highlighted objects identifies objects proximate to the driven vehicle that are potential collisions to the driven vehicle. The dynamically expanded image with highlighted objects and associated collective time-to-collisions are displayed for each highlighted object in the display device that is determined as a potential collision.

Abstract translation: 一种在被驱动车辆的显示装置上显示拍摄图像的方法。 驱动车辆的场景外部被至少一个基于视觉的成像和至少一个感测装置捕获。 确定检测到的每个物体的碰撞时间。 根据每个对象的每个确定的时间间隔来确定每个对象的综合时间到冲突。 捕获的场景的图像由处理器生成。 图像被动态扩展以包括图像中的感测对象。 感觉对象在动态扩展的图像中突出显示。 突出显示的对象识别靠近从动车辆的物体是与被驱动车辆的潜在碰撞的物体。 对于被确定为潜在碰撞的显示设备中的每个突出显示的对象，显示具有突出显示的对象和关联的集体时间到冲突的动态扩展图像。

公开(公告)号：US20150042799A1

公开(公告)日：2015-02-12

申请号：US14059729

申请日：2013-10-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wende Zhang ,  Jinsong Wang ,  Bakhtiar B. Litkouhi ,  Dennis B. Kazensky ,  Jeffrey S. Piasecki ,  Charles A. Green ,  Ryan M. Frakes

IPC: G06K9/00 ,  H04N7/18

CPC classification number: G06K9/00805 ,  H04N7/18

Abstract: A method of displaying a captured image on a display device of a driven vehicle. A scene exterior of the driven vehicle is captured by an at least one vision-based imaging device mounted on the driven vehicle. Objects in a vicinity of the driven vehicle are sensed. An image of the captured scene is generated by a processor. The image is dynamically expanded to include sensed objects in the image. The sensed objects are highlighted in the dynamically expanded image. The highlighted objects identify vehicles proximate to the driven vehicle that are potential collisions to the driven vehicle. The dynamically expanded image is displayed with highlighted objects in the display device.

Abstract translation: 一种在被驱动车辆的显示装置上显示拍摄图像的方法。 驱动车辆的场景外部由安装在从动车辆上的至少一个基于视觉的成像装置捕获。 检测从动车辆附近的物体。 捕获的场景的图像由处理器生成。 图像被动态扩展以包括图像中的感测对象。 被感测的对象在动态扩展的图像中突出显示。 突出显示的对象识别靠近被驱动车辆的车辆与被驱动车辆的潜在碰撞。 动态展开的图像与显示设备中突出显示的对象一起显示。

公开(公告)号：US20140347207A1

公开(公告)日：2014-11-27

申请号：US13901123

申请日：2013-05-23

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Wende Zhang ,  Mark E. Shields

IPC: G01S13/93

CPC classification number: G01S13/931 ,  G01S7/40 ,  G01S7/41 ,  G01S13/87 ,  G01S2007/4039 ,  G01S2013/9346 ,  G01S2013/9375

Abstract: A system and method for providing target selection and threat assessment for vehicle collision avoidance purposes that employ probability analysis of radar scan returns. The system determines a travel path of a host vehicle and provides a radar signal transmitted from a sensor on the host vehicle. The system receives multiple scan return points from detected objects, processes the scan return points to generate a distribution signal defining a contour of each detected object, and processes the scan return points to provide a position, a translation velocity and an angular velocity of each detected object. The system selects the objects that may enter the travel path of the host vehicle, and makes a threat assessment of those objects by comparing a number of scan return points that indicate that the object may enter the travel path to the number of the scan points that are received for that object.

Abstract translation: 一种系统和方法，用于为雷达扫描返回的概率分析提供用于车辆碰撞避免目的的目标选择和威胁评估。 该系统确定主车辆的行驶路径并提供从主车辆上的传感器发送的雷达信号。 系统从检测到的对象接收多个扫描返回点，处理扫描返回点以产生限定每个检测对象轮廓的分布信号，并处理扫描返回点以提供每个检测到的对象的位置，平移速度和角速度 目的。 该系统选择可能进入主车辆的行进路径的物体，并且通过将指示物体可以进入行进路径的扫描返回点的数量与扫描点的数量进行比较来对这些物体进行威胁评估， 被接收为该对象。

公开(公告)号：US12094220B2

公开(公告)日：2024-09-17

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

IPC: G06K9/00 ,  B60W30/02 ,  G06V20/56

CPC classification number: G06V20/588 ,  B60W30/025 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2552/53

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.

公开(公告)号：US20230260157A1

公开(公告)日：2023-08-17

申请号：US17651407

申请日：2022-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： BINBIN LI ,  Xinyu Du ,  Yao Hu ,  Hao Yu ,  Wende Zhang

IPC: G06T7/80 ,  G06V10/40 ,  G06V10/22 ,  G06T7/73

CPC classification number: G06T7/80 ,  G06V10/40 ,  G06V10/22 ,  G06T7/73 ,  G06T2207/30252 ,  G06T2207/30244

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; 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 based on a fixed two dimensional image road mask and a three dimensional region; 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.

公开(公告)号：US20230046232A1

公开(公告)日：2023-02-16

申请号：US17400529

申请日：2021-08-12

Applicant: GM Global Technology Operations LLC

Inventor： Xinyu Du ,  Yao Hu ,  Wende Zhang ,  Hao Yu

IPC: G01S7/497 ,  G01S17/86 ,  G01S17/931

Abstract: A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, a camera to obtain camera data in a camera coordinate system, and processing circuitry to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the camera data.

公开(公告)号：US10528826B2

公开(公告)日：2020-01-07

申请号：US15410084

申请日：2017-01-19

Applicant: GM Global Technology Operations LLC

Inventor： Wende Zhang ,  Adrienne M. Williamson ,  Esther Anderson ,  Jinsong Wang

IPC: G01S13/93 ,  G01S15/93 ,  G06K9/00 ,  B62D15/02 ,  G01S17/93 ,  G01S13/86

Abstract: A vehicle guidance system assists a driver in maneuvering a vehicle with respect to an object in a scene. The system includes a steering angle sensor, a camera device, a video processing module (VPM), and a human-machine interface (HMI). The sensor is configured to monitor the angular position of a vehicle wheel. The device is configured to capture an original image of a scene having the object. The VPM is configured to receive and process the original image from the device, detect the object in the original image, receive and process the angular position from the sensor, generate a vehicle trajectory based on the angular position, and orientate the trajectory with regard to the object. The HMI is configured to display a processed image associated with the original image and a trajectory overlay associated with the trajectory from the VPM. Together, the object is displayed in relation to the overlay.

公开(公告)号：US20190318180A1

公开(公告)日：2019-10-17

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

IPC: G06K9/00 ,  G06F3/01

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.

公开(公告)号：US10322703B2

公开(公告)日：2019-06-18

申请号：US15181796

申请日：2016-06-14

Applicant: GM Global Technology Operations LLC

Inventor： Wende Zhang ,  Timothy J. Canner ,  Esther Anderson ,  Alma Bushi ,  Gary V. Bandurski

IPC: B60S1/56 ,  B60S3/04 ,  B08B1/00 ,  B60R11/00 ,  B60R11/04 ,  G02B27/00

Abstract: A camera cleaning system for a vehicle includes a camera including a lens cover and a motor. A cleaning assembly includes an arm including a cleaning material. The motor selectively adjusts a position of the arm and the cleaning material relative to the lens cover of the camera. The motor selectively adjusts a position of the arm and the cleaning material relative to vehicle from a first position to a second position. The camera selectively generates video signals when the camera is in the first position. The cleaning assembly is in contact with the lens cover when the camera is in the second position.