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公开(公告)号：US11235768B2
公开(公告)日：2022-02-01
申请号：US16521836
申请日：2019-07-25
摘要： A system includes a computer including a processor programmed to identify, based on data from first sensors included in a first vehicle, that a second vehicle proximate to a route of the first vehicle is stationary. The processor is further programmed to receive, from second sensors included in the first vehicle, transient velocity data from the second vehicle; and determine an operating condition of the second vehicle based on the transient velocity data.
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公开(公告)号：US11592559B2
公开(公告)日：2023-02-28
申请号：US16798702
申请日：2020-02-24
IPC分类号： G01S17/26 , G01S17/931 , G01S7/48 , G01S7/497 , G06N3/04
摘要： A computer, including a processor and a memory, the memory including instructions to be executed by the processor to obtain velocity lidar point cloud data acquired with a frequency modulated continuous wave (FMCW) lidar sensor, wherein the velocity lidar point cloud data includes a speed with which a data point is moving with respect to the FMCW lidar sensor, filter the velocity lidar point cloud data to select static velocity data points, wherein the static velocity data points are velocity data points each correspond to a point on a roadway around a vehicle. The instructions can include further instructions to determine FMCW lidar sensor accelerations in six degrees of freedom based on the static velocity lidar data points and determine FMCW lidar sensor rotations and translations in six degrees of freedom based on the FMCW lidar sensor accelerations in six degrees of freedom. The instructions can include further instructions to determine vehicle rotations and translations in six degrees of freedom based on inertial measurement unit (IMU) data, determine FMCW lidar sensor mis-alignment based on comparing the FMCW lidar sensor rotations and translations with the vehicle rotations and translations and align the FMCW lidar sensor based on the FMCW lidar sensor mis-alignment. The instructions can include further instructions to operate a vehicle based on the aligned FMCW lidar sensor.
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公开(公告)号：US20220060641A1
公开(公告)日：2022-02-24
申请号：US16995943
申请日：2020-08-18
摘要： A computer includes a processor and a memory storing instructions executable by the processor to input strain data measuring mechanical strain on a vehicle camera and operation data of a vehicle component, the operation data describing at least one of an output or a state of the vehicle component, to a machine learning program that outputs a displacement of the vehicle camera from a neutral position based on the strain data and the operation data. The instructions further include instructions to identify a transformation matrix that transforms data from the vehicle camera to a coordinate system of the vehicle camera in the neutral position based on the output displacement of the vehicle camera, to apply the transformation matrix to data collected by the vehicle camera to generate transformed data, and to actuate one of the vehicle component or a second vehicle component based on the transformed data.
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公开(公告)号：US20230134302A1
公开(公告)日：2023-05-04
申请号：US17517855
申请日：2021-11-03
发明人： David Michael Herman , Aaron Lesky , Akshat Rajvanshi , Brian Quinn Kettlewell , Geoffrey Horowitz
摘要： A system for detecting a road surface includes a processor programmed to identify, in a vehicle sensor field of view, environment features including a sky, a road surface, a road shoulder, based on map data and data received from the one or more vehicle sensors, upon determining a low confidence in identifying an area of the field of view to be a road surface or sky, to receive a polarimetric image, and to determine, based on the received polarimetric image, whether the identified area is a mirage phenomenon, a wet road surface, or the sky. The low confidence is determined upon determining that a road surface has a vanishing edge, a road lane marker is missing, or an anomalous object is present.
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公开(公告)号：US20220063569A1
公开(公告)日：2022-03-03
申请号：US17004278
申请日：2020-08-27
摘要： A system comprises a processor and a memory. The memory stores instructions executable by the processor to determine a baseline polarization for a surface of a material based on a first polarimetric image of the surface, to determine a second polarization for the surface based on a second polarimetric image of the surface, to determine, based on the baseline polarization data and the second polarization data, that there is a wet area on the surface, and upon determining the wet area, actuate an actuator to cause a clean the surface.
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公开(公告)号：US11807256B2
公开(公告)日：2023-11-07
申请号：US17590100
申请日：2022-02-01
发明人： David Michael Herman , Aaron Lesky , Catherine Marie Amodeo , Alexander George Shanku , Venkatesh Krishnan , Keith Van Gorder
CPC分类号： B60W50/06 , B60W50/0205 , G01S7/40 , G01S7/497 , G05B13/027 , B60W2420/40 , B60W2420/52
摘要： A computer includes a processor and a memory storing instructions executable by the processor to receive a first time series of positions of a vehicle sensor mounted on a vehicle from at least one calibration sensor spaced from the vehicle, measured while vibrations are applied to the vehicle; receive a second time series of motion of the vehicle sensor based on data from the vehicle sensor measured while the vibrations are applied to the vehicle; fuse the first and second time series; and determine at least one calibration value for an adjustment model based on the fusion of the first and second time series. The adjustment model is a model of motion of the vehicle sensor relative to the vehicle resulting from motion of the vehicle.
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公开(公告)号：US20230242133A1
公开(公告)日：2023-08-03
申请号：US17590100
申请日：2022-02-01
发明人： David Michael Herman , Aaron Lesky , Catherine Marie Amodeo , Alexander George Shanku , Venkatesh Krishnan , Keith Van Gorder
CPC分类号： B60W50/06 , G01S7/497 , G01S7/40 , B60W50/0205 , G05B13/027 , B60W2420/52 , B60W2420/40
摘要： A computer includes a processor and a memory storing instructions executable by the processor to receive a first time series of positions of a vehicle sensor mounted on a vehicle from at least one calibration sensor spaced from the vehicle, measured while vibrations are applied to the vehicle; receive a second time series of motion of the vehicle sensor based on data from the vehicle sensor measured while the vibrations are applied to the vehicle; fuse the first and second time series; and determine at least one calibration value for an adjustment model based on the fusion of the first and second time series. The adjustment model is a model of motion of the vehicle sensor relative to the vehicle resulting from motion of the vehicle.
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公开(公告)号：US11166003B1
公开(公告)日：2021-11-02
申请号：US16863124
申请日：2020-04-30
发明人： David Michael Herman , Aaron Lesky , Ronald Beras
摘要： The present disclosure discloses a system and a method for mitigating image distortion. In an example implementation, the system and the method can receive vehicle state data and vehicle inertial measurement data; generate an image distortion prediction indicative of image distortion within an image captured by the image capture assembly based on the vehicle state data and the vehicle inertial measurement data; and at least one of correct or mitigate the image distortion based on the image distortion prediction.
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公开(公告)号：US11356617B2
公开(公告)日：2022-06-07
申请号：US16995943
申请日：2020-08-18
摘要： A computer includes a processor and a memory storing instructions executable by the processor to input strain data measuring mechanical strain on a vehicle camera and operation data of a vehicle component, the operation data describing at least one of an output or a state of the vehicle component, to a machine learning program that outputs a displacement of the vehicle camera from a neutral position based on the strain data and the operation data. The instructions further include instructions to identify a transformation matrix that transforms data from the vehicle camera to a coordinate system of the vehicle camera in the neutral position based on the output displacement of the vehicle camera, to apply the transformation matrix to data collected by the vehicle camera to generate transformed data, and to actuate one of the vehicle component or a second vehicle component based on the transformed data.
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公开(公告)号：US20210344887A1
公开(公告)日：2021-11-04
申请号：US16863124
申请日：2020-04-30
发明人： David Michael Herman , Aaron Lesky , Ronald Beras
IPC分类号： H04N13/128 , H04N5/225 , G06T5/00 , G06T5/50 , B60R11/04
摘要： The present disclosure discloses a system and a method for mitigating image distortion. In an example implementation, the system and the method can receive vehicle state data and vehicle inertial measurement data; generate an image distortion prediction indicative of image distortion within an image captured by the image capture assembly based on the vehicle state data and the vehicle inertial measurement data; and at least one of correct or mitigate the image distortion based on the image distortion prediction.
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