公开(公告)号：US11724720B2

公开(公告)日：2023-08-15

申请号：US17487809

申请日：2021-09-28

Applicant: GM Global Technology Operations LLC

Inventor： Amit Agarwal ,  Hyukseong Kwon ,  Rajan Bhattacharyya ,  Michael J. Daily ,  Gavin D. Holland

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/0027 ,  B60W50/0098 ,  B60W2050/006 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/4044 ,  B60W2556/60 ,  B60W2720/10 ,  B60W2720/12

Abstract: A method using unsupervised velocity prediction and correction for urban driving from sequences of noisy position estimates includes: performing a vehicle velocity prediction for one or more other vehicles in a vicinity of a host automobile vehicle; calculating a first heuristic based on a uniformity test; calculating a second heuristic based on a vehicle speed of the one or more other vehicles; combining the first heuristic and the second heuristic using a weighted sum; determining an uncertainty mask applying the combined first heuristic and the second heuristic and a heuristic threshold; and applying the uncertainty mask to identify a velocity correction for use by the host automobile vehicle.

公开(公告)号：US20220155455A1

公开(公告)日：2022-05-19

申请号：US17098702

申请日：2020-11-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Jacqueline Staiger ,  Hyukseong Kwon ,  Amit Agarwal ,  Rajan Bhattacharyya

IPC: G01S17/931 ,  G06T7/11 ,  G06T7/70 ,  G06K9/00 ,  G01S17/89 ,  G05D1/02 ,  B60W60/00

Abstract: A system ground surface projection for autonomous driving of a host vehicle is provided. The system includes a LIDAR device of the host vehicle and a computerized device. The computerized device is operable to monitor data from the LIDAR device including a total point cloud. The total point cloud describes an actual ground surface in the operating environment of the host vehicle. The device is further operable to segment the total point cloud into a plurality of local point cloud and, for each of the local point clouds, determine a local polygon estimating a portion of the actual ground surface. The device is further operable to assemble the local polygons into a total estimated ground surface and navigate the host vehicle based upon the total estimated ground surface.