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    METHOD FOR REGISTRATION OF RANGE IMAGES FROM MULTIPLE LiDARS
    71.
    发明申请
    METHOD FOR REGISTRATION OF RANGE IMAGES FROM MULTIPLE LiDARS 有权
    用于从多个LiDARS注册范围图像的方法

    公开(公告)号：US20130242285A1

    公开(公告)日：2013-09-19

    申请号：US13777469

    申请日：2013-02-26

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng

    IPC: G01S17/58

    CPC classification number: G01S17/58 ,  G01S17/023 ,  G01S17/66 ,  G01S17/875 ,  G01S17/936

    Abstract: A system and method for registering range images from objects detected by multiple LiDAR sensors on a vehicle. The method includes aligning frames of data from at least two LiDAR sensors having over-lapping field-of-views in a sensor signal fusion operation so as to track objects detected by the sensors. The method defines a transformation value for at least one of the LiDAR sensors that identifies an orientation angle and position of the sensor and provides target scan points from the objects detected by the sensors where the target scan points for each sensor provide a separate target point map. The method projects the target point map from the at least one sensor to another one of the LiDAR sensors using a current transformation value to overlap the target scan points from the sensors.

    Abstract translation: 用于将车辆上由多个LiDAR传感器检测到的物体的距离图像进行记录的系统和方法。 该方法包括在传感器信号融合操作中对来自至少两个具有超研磨视场的LiDAR传感器的数据帧进行对准，以便跟踪由传感器检测到的物体。 该方法定义了至少一个LiDAR传感器的变换值，其识别传感器的取向角度和位置，并且从传感器检测到的物体提供目标扫描点，其中每个传感器的目标扫描点提供单独的目标点图 。 该方法使用当前变换值将目标点映射从至少一个传感器投射到另一个LiDAR传感器，以与来自传感器的目标扫描点重叠。

    VOTING BASED METHOD FOR FUSING MAP DATA FOR A VEHICLE
    72.
    发明申请
    VOTING BASED METHOD FOR FUSING MAP DATA FOR A VEHICLE 有权

    公开(公告)号：US20250137815A1

    公开(公告)日：2025-05-01

    申请号：US18494097

    申请日：2023-10-25

    Applicant: GM Global Technology Operations LLC

    Inventor： Gui Chen ,  Bo Yu ,  Shuqing Zeng ,  Joon Hwang ,  Mason David Gemar ,  Fan Bai ,  Vivek Vijaya Kumar

    IPC: G01C21/00

    Abstract: A system for resolving discrepancies in map data includes one or more central computers in wireless communication with one or more vehicles. The one or more central computers are programmed to receive a first map dataset and a second map dataset. The one or more central computers are further programmed to receive a plurality of crowdsourced map datasets. Each of the plurality of crowdsourced map datasets represents the predefined geographical area. The one or more central computers are further programmed to compare each of the plurality of crowdsourced map datasets with the first map dataset and the second map dataset to determine one or more common lane lines. The one or more central computers are further programmed to determine a fused map dataset based on the first map dataset, the second map dataset, the plurality of crowdsourced map datasets, and the one or more common lane lines.

    SYSTEM FOR FUSING TWO OR MORE VERSIONS OF MAP DATA BASED ON SPATIAL KALMAN FILTERING
    73.
    发明申请
    SYSTEM FOR FUSING TWO OR MORE VERSIONS OF MAP DATA BASED ON SPATIAL KALMAN FILTERING 有权

    公开(公告)号：US20250102320A1

    公开(公告)日：2025-03-27

    申请号：US18473607

    申请日：2023-09-25

    Applicant: GM Global Technology Operations LLC

    Inventor： Shuqing Zeng ,  Fan Bai ,  Bo Yu ,  Gui Chen ,  Cem U. Saraydar ,  Mason David Gemar

    IPC: G01C21/00 ,  G01C21/32

    Abstract: A system for fusing two or more versions of map data together includes one or more central computers that receive road network data representing a road network for a predefined geofenced area. The central computers receive road network data that includes a discrete random curve that represents lane markings. The discrete random curve includes a plurality of state vectors that are each defined by a respective location and tangent angle. The central computers estimate the position for the state vectors of the discrete random curve based on a signed distance and the tangent angle by minimizing a spatial Kalman filter cost function and execute a Kalman smoothening function to estimate the position and the tangent angle for the state vectors that are part of the discrete random curve, where the state vectors each represent a map point of the fused map data.

    METHOD AND SYSTEM FOR VALIDATING AUTONOMOUS VEHICLE PERFORMANCE USING NEARBY TRAFFIC PATTERNS
    78.
    发明公开
    METHOD AND SYSTEM FOR VALIDATING AUTONOMOUS VEHICLE PERFORMANCE USING NEARBY TRAFFIC PATTERNS 审中-公开

    公开(公告)号：US20230343210A1

    公开(公告)日：2023-10-26

    申请号：US17725814

    申请日：2022-04-21

    Applicant: GM Global Technology Operations LLC

    Inventor： Wei Tong ,  Shige Wang ,  Shuqing Zeng ,  Sourav Dey ,  Xiaofeng Frank Song ,  Upali P. Mudalige ,  Praveen Choudhury

    IPC: G08G1/01

    CPC classification number: G08G1/0145 ,  G08G1/0141 ,  G08G1/0133

    Abstract: A method for validating an autonomous vehicle performance using nearby traffic patterns includes receiving remote vehicle data. The remote vehicle data includes at least one remote-vehicle motion parameter about a movement of a plurality of remote vehicles during a predetermined time interval. The method further includes determining a traffic pattern of the plurality of remote vehicles using the at least one remote-vehicle motion parameter. The method includes determining a similarity between the traffic pattern of the plurality of remote vehicles and movements of the host vehicle. Further, the method includes determining whether the similarity between the traffic pattern of the plurality of remote vehicles and movements of the host vehicle is less than a predetermined threshold. Also, the method includes commanding the host vehicle to adjust the movements thereof to match the traffic pattern of the plurality of remote vehicles.

    PERCEPTION PROCESSING WITH MULTI-LEVEL ADAPTIVE DATA PROCESSING FLOW RATE CONTROL
    79.
    发明申请
    PERCEPTION PROCESSING WITH MULTI-LEVEL ADAPTIVE DATA PROCESSING FLOW RATE CONTROL 有权

    公开(公告)号：US20230093511A1

    公开(公告)日：2023-03-23

    申请号：US17478135

    申请日：2021-09-17

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shige WANG ,  Wei Tong ,  Shuqing Zeng

    IPC: G06F9/50 ,  G06F11/30 ,  G06F11/34 ,  G06F9/54

    Abstract: A perception processing system includes a memory and a main controller. The main controller includes modules and implements a data processing pipeline including algorithm stages, which are executed in parallel relative to sets of data and are executed sequentially relative to each of the sets of data. The algorithm stages share resources of the modules and the memory to process the sets of data and generate perception information. One of the modules executes global and local controllers. The global controller sets a processing rate for the local controllers. The local controllers monitor current processing rates of the algorithm stages. When one of the current processing rates is less than the set processing rate, the corresponding one of the local controllers sends a first signal to the global controller and in response the global controller sends a broadcast signal to the local controllers to adjust the current processing rates.

    Sensor fusion based on intersection scene to determine vehicle collision potential
    80.
    发明授权
    Sensor fusion based on intersection scene to determine vehicle collision potential 有权

    公开(公告)号：US11325594B2

    公开(公告)日：2022-05-10

    申请号：US16785771

    申请日：2020-02-10

    Applicant: GM Global Technology Operations LLC

    Inventor： Shengbing Jiang ,  Shuqing Zeng ,  Prakash Mohan Peranandam ,  Meng Jiang ,  Jiyu Zhang ,  Mohamed A. Layouni

    IPC: B60W30/095 ,  B60W50/16 ,  G01S13/931 ,  G01S17/931 ,  B60W30/09

    Abstract: Methods and systems to implement sensor fusion to determine collision potential for a vehicle include identifying a specific intersection that the vehicle is approaching, and identifying collision potential scenarios associated with one or more paths through the specific intersection. Each collision potential scenario defines a risk of a collision between the vehicle and an object in a specified area. A weight with which one or more information sources of the vehicle are considered is adjusted for each collision potential scenario such that a highest weight is given to one or more of the one or more information sources that provide most relevant and reliable information about the specified area. Sensor fusion is implemented based on the adjusting the weight of the one or more information sources and performing detection based on the sensor fusion, and an alert is provided or actions are implemented according to the detection.

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