公开(公告)号：US09781569B2

公开(公告)日：2017-10-03

申请号：US14656305

申请日：2015-03-12

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Fan Bai ,  Priyantha Upali Mudalige

IPC: H04W4/02

CPC classification number: H04W4/027 ,  H04W4/023

Abstract: A positioning method includes acquiring global positioning system (GPS) position data associated with a mobile platform from a plurality of GPS satellites observable by the mobile platform. A set of wireless range measurements associated with the mobile platform and a plurality of wireless access points in communication with the mobile platform are acquired. The method further includes receiving, from a server communicatively coupled to the mobile platform over a network, wireless position data associated with the plurality of wireless access points. A corrected position of the mobile platform is determined based on the wireless position data, the wireless range measurements, and the GPS position data.

公开(公告)号：US09753144B1

公开(公告)日：2017-09-05

申请号：US15042758

申请日：2016-02-12

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Rouhollah Jafari ,  Shuqing Zeng

IPC: G05D1/00 ,  G01S19/47 ,  G01C21/16

CPC classification number: G01S19/47 ,  G01C21/12 ,  G01C21/16 ,  G01C21/165 ,  G01S19/53

Abstract: A system and method for correcting bias and angle misalignment errors in the angle rate and acceleration outputs from a 6-DOF IMU mounted to a vehicle. The method includes providing velocity and estimation attitude data in an inertial frame from, for example, a GNSS/INS, and determining an ideal acceleration estimation and an ideal rate estimation in a vehicle frame using the velocity and attitude data. The method then determines the IMU bias error and misalignment error using the ideal acceleration and rate estimations and the angle rate and acceleration outputs in an IMU body frame from the IMU.

公开(公告)号：US09661319B2

公开(公告)日：2017-05-23

申请号：US14283508

申请日：2014-05-21

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Wende Zhang ,  Jinsong Wang

IPC: H04N9/47 ,  H04N7/18 ,  H04N17/00 ,  G06K9/00 ,  G06K9/46 ,  H04N5/262 ,  H04N5/265 ,  B60R1/00 ,  G06T7/00

CPC classification number: H04N17/002 ,  B60R1/00 ,  B60R2300/402 ,  G06K9/00791 ,  G06K9/4604 ,  G06T7/33 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04N5/2628 ,  H04N5/265

Abstract: An embodiment contemplates a method of calibrating multiple image capture devices of a vehicle. A plurality of image capture devices having different poses are provided. At least one of the plurality of image capture devices is identified as a reference device. An image of a patterned display exterior of the vehicle is captured by the plurality of image capture devices. The vehicle traverses across the patterned display to capture images at various instances of time. A processor identifies common landmarks of the patterned display between each of the images captured by the plurality of image capture devices and the reference device. Images of the patterned display captured by each of the plurality of image devices are stitched using the identified common landmarks. Extrinsic parameters of each image capture device are adjusted relative to the reference device based on the stitched images for calibrating the plurality of image capture devices.

公开(公告)号：US09650026B2

公开(公告)日：2017-05-16

申请号：US14840407

申请日：2015-08-31

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Xiang Gong ,  Bakhtiar B. Litkouhi

IPC: G06F7/70 ,  B60T7/22 ,  B60T17/18 ,  B60T8/17

CPC classification number: B60T7/22 ,  B60T8/17 ,  B60T8/17558 ,  B60T17/18 ,  B60T2201/024

Abstract: A rear cross traffic avoidance system includes an object detection device sensing remote objects rearward of a host vehicle. An object classifier distinguishes a remote dynamic object from remote static objects. The object classifier identifies a shape of the dynamic object. A tracking system tracks the remote dynamic object. A processor determines the remote object being on an intersecting path to the remote vehicle. The processor determines a warning threat assessment as a function of a time to intersect between the host vehicle and the remote dynamic object. The processor determines a brake threat assessment in response to an actuated warning of a collision. A brake actuation system actuates a braking operation for mitigating the collision.

公开(公告)号：US09563808B2

公开(公告)日：2017-02-07

申请号：US14597108

申请日：2015-01-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Kevin A. O'Dea ,  Dmitriy Feldman ,  James N. Nickolaou

IPC: G06K9/00 ,  G06K9/62 ,  G06T7/00

CPC classification number: G06K9/00798 ,  G01S7/41 ,  G01S13/726 ,  G01S13/86 ,  G01S13/867 ,  G01S13/931 ,  G01S2013/936 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9392 ,  G06K9/4604 ,  G06K9/6201 ,  G06K9/6218 ,  G06K9/6267 ,  G06T7/75 ,  G06T7/77 ,  G06T2207/20076 ,  G06T2207/20081 ,  G06T2207/30252

Abstract: A method is disclosed for improved target grouping of sensor measurements in an object detection system. The method uses road curvature information to improve grouping accuracy by better predicting a new location of a known target object and matching it to sensor measurements. Additional target attributes are also used for improved grouping accuracy, where the attributes includes range rate, target cross-section and others. Distance compression is also employed for improved grouping accuracy, where range is compressed in a log scale calculation in order to diminish errors in measurement of distant objects. Grid-based techniques include the use of hash tables and a flood fill algorithm for improved computational performance of target object identification, where the number of computations can be reduced by an order of magnitude.

Abstract translation: 公开了一种用于在物体检测系统中改进传感器测量的目标分组的方法。 该方法使用道路曲率信息来通过更好地预测已知目标对象的新位置并将其与传感器测量相匹配来提高分组精度。 其他目标属性也用于提高分组精度，其中属性包括范围速率，目标横截面等。 还采用距离压缩来提高分组精度，其中在对数标度计算中压缩范围，以减少远距离物体的测量误差。 基于网格的技术包括使用散列表和洪泛填充算法来改善目标对象识别的计算性能，其中计算次数可以减少一个数量级。

公开(公告)号：US09476983B2

公开(公告)日：2016-10-25

申请号：US14828402

申请日：2015-08-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng

IPC: G01C3/08 ,  G01S17/87 ,  G01S17/66 ,  G01S17/93

CPC classification number: G01S17/87 ,  G01S17/023 ,  G01S17/66 ,  G01S17/936

Abstract: A system and method for fusing the outputs from multiple LiDAR sensors on a vehicle that includes cueing the fusion process in response to an object being detected by a radar sensor and/or a vision system. The method includes providing object files for objects detected by the LiDAR sensors at a previous sample time, where the object files identify the position, orientation and velocity of the detected objects. The method projects object models in the object files from the previous sample time to provide predicted object models. The method also includes receiving a plurality of scan returns from objects detected in the field-of-view of the sensors at a current sample time and constructing a point cloud from the scan returns. The method then segments the scan points in the point cloud into predicted scan clusters, where each cluster identifies an object detected by the sensors.

Abstract translation: 一种用于将来自车辆上的多个LiDAR传感器的输出进行融合的系统和方法，其包括响应于由雷达传感器和/或视觉系统检测到的物体来引导融合过程。 该方法包括为先前采样时间的LiDAR传感器检测到的物体提供目标文件，其中目标文件识别被检测物体的位置，方位和速度。 该方法从上一个采样时间对象文件中的对象模型进行投影，以提供预测对象模型。 该方法还包括在当前采样时间从传感器的视场中检测到的物体接收多个扫描返回，并从扫描返回构建点云。 然后，该方法将点云中的扫描点分段为预测的扫描簇，其中每个簇识别由传感器检测到的对象。

公开(公告)号：US20160291149A1

公开(公告)日：2016-10-06

申请号：US14679995

申请日：2015-04-06

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Wei Tong

IPC: G01S13/93 ,  B60W30/08 ,  B60T7/22 ,  G01S13/86 ,  B60Q9/00

CPC classification number: G01S13/931 ,  B60Q9/008 ,  B60T7/22 ,  B60T2201/022 ,  B60T2210/32 ,  B60W30/08 ,  G01S13/867 ,  G01S13/874 ,  G01S2013/9317 ,  G01S2013/9332 ,  G01S2013/9378 ,  G01S2013/9385

Abstract: A method and system are disclosed for tracking objects which are crossing behind a host vehicle. Target data from a vision system and two radar sensors are provided to an object detection fusion system. Salient points on the target object are identified and tracked using the vision system data. The salient vision points are associated with corresponding radar points, where the radar points provide Doppler radial velocity data. A fusion calculation is performed on the salient vision points and the radar points, yielding an accurate estimate of the velocity of the target object, including its lateral component which is difficult to obtain using radar points only or traditional vision system methods. The position and velocity of the target object are used to trigger warnings or automatic braking in a Rear Cross Traffic Avoidance (RCTA) system.

Abstract translation: 公开了用于跟踪在主车辆后方穿过的物体的方法和系统。 来自视觉系统和两个雷达传感器的目标数据被提供给物体检测融合系统。 使用视觉系统数据识别和跟踪目标对象上的突出点。 显着的视点与相应的雷达点相关联，雷达点提供多普勒径向速度数据。 对显着视点和雷达点进行融合计算，产生目标物体的速度的准确估计，包括其仅使用雷达点或传统视觉系统方法难以获得的侧向分量。 目标对象的位置和速度用于在后方交通交通避免（RCTA）系统中触发警告或自动制动。

公开(公告)号：US09199668B2

公开(公告)日：2015-12-01

申请号：US14065279

申请日：2013-10-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Nikolai K. Moshchuk ,  Rouhollah Jafari

IPC: A01B69/00 ,  B62D15/02 ,  G01S17/93 ,  G01S15/93 ,  G01S7/48 ,  G01S13/93

CPC classification number: B62D15/0265 ,  G01S7/4808 ,  G01S13/931 ,  G01S15/931 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9375

Abstract: A system and method for calculating a virtual target path that is used to calculate an evasive steering path around a target object, such as a target vehicle, stopped in front of a subject vehicle. The method includes determining a potential field using a plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has center defined by target object scan points and other object scan points. The method identifies a mesh grid in an X-Y plane where the mesh grid includes mesh grid points at locations where X and Y plane lines cross. The method identifies a local minimum point of the potential field for each X-plane line at each mesh grid point along the Y-plane crossing that X-plane line, where the local minimum point is a curve point. The method then connects the curve points to define the target path.

Abstract translation: 一种用于计算虚拟目标路径的系统和方法，用于计算停在目标车辆前面的诸如目标车辆的目标物体周围的回避转向路径。 该方法包括使用作为二维高斯函数的和的多个扫描点来确定电场，其中每个高斯函数具有由目标对象扫描点和其他对象扫描点定义的中心。 该方法识别X-Y平面中的网格，其中网格在X和Y平面线交叉的位置处包括网格网格点。 该方法识别沿着Y平面交叉的每个网格点处的每个X平面线的势场的局部最小点，X平面线，其中局部最小点是曲线点。 然后，该方法连接曲线点以定义目标路径。

公开(公告)号：US20150120138A1

公开(公告)日：2015-04-30

申请号：US14065279

申请日：2013-10-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Nikolai K. Moshchuk ,  Rouhollah Jafari

IPC: B62D15/02 ,  G01S17/93

CPC classification number: B62D15/0265 ,  G01S7/4808 ,  G01S13/931 ,  G01S15/931 ,  G01S17/936 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9375

Abstract: A system and method for calculating a virtual target path that is used to calculate an evasive steering path around a target object, such as a target vehicle, stopped in front of a subject vehicle. The method includes determining a potential field using a plurality of scan points that is a summation of two-dimensional Gaussian functions, where each Gaussian function has center defined by target object scan points and other object scan points. The method identifies a mesh grid in an X-Y plane where the mesh grid includes mesh grid points at locations where X and Y plane lines cross. The method identifies a local minimum point of the potential field for each X-plane line at each mesh grid point along the Y-plane crossing that X-plane line, where the local minimum point is a curve point. The method then connects the curve points to define the target path.

Abstract translation: 一种用于计算虚拟目标路径的系统和方法，用于计算停在目标车辆前面的诸如目标车辆的目标物体周围的回避转向路径。 该方法包括使用作为二维高斯函数的和的多个扫描点来确定电场，其中每个高斯函数具有由目标对象扫描点和其他对象扫描点定义的中心。 该方法识别X-Y平面中的网格，其中网格在X和Y平面线交叉的位置处包括网格网格点。 该方法识别沿着Y平面交叉的每个网格点处的每个X平面线的势场的局部最小点，X平面线，其中局部最小点是曲线点。 然后，该方法连接曲线点以定义目标路径。

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。