公开(公告)号：US20230213633A1

公开(公告)日：2023-07-06

申请号：US17569948

申请日：2022-01-06

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Xinyu DU ,  Yao HU ,  Wende ZHANG ,  Hao YU

IPC分类号： G01S7/497 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  B60W60/00

CPC分类号： G01S7/4972 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  B60W60/00 ,  B60W2420/52

摘要： A LIDAR-to-vehicle alignment system includes a memory and alignment and autonomous driving modules. The memory stores points of data provided based on an output of one or more LIDAR sensors and localization data. The alignment module performs an alignment process including: based on the localization data; determining whether a host vehicle is turning; in response to the host vehicle turning; selecting a portion of the points of data; aggregating the selected portion to provide aggregated data; selecting targets based on the aggregated data; and based on the selected targets, iteratively reducing a loss value of a loss function to provide a resultant LIDAR-to-vehicle transformation matrix. The autonomous driving module: based on the resultant LIDAR-to-vehicle transformation matrix, converts at least the selected portion to at least one of vehicle coordinates or world coordinates to provide resultant data; and performs one or more autonomous driving operations based on the resultant data.

公开(公告)号：US20230266451A1

公开(公告)日：2023-08-24

申请号：US17676284

申请日：2022-02-21

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Yao HU ,  Xinyu DU ,  Wende ZHANG ,  Hao YU

IPC分类号： G01S7/497 ,  G01S17/42 ,  G01S17/931 ,  G01S7/48

CPC分类号： G01S7/4972 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/931 ,  G01S17/86

摘要： A LIDAR-to-vehicle alignment system includes a sensor data collection module configured to collect points of data provided based on outputs of one or more LIDAR sensors and an alignment module configured to identify lane markings based on the points of data, determine a lane marking direction based on the identified lane markings, calculate a yaw of a LIDAR coordinate system relative to a vehicle coordinate system based on the determined lane marking direction, identify a ground plane based on the points of data, calculate a roll and pitch of the LIDAR coordinate system relative to the vehicle coordinate system based on the identified ground plane, and update a transformation matrix based on the calculated yaw, roll, and pitch of the LIDAR coordinate system.

公开(公告)号：US20220404506A1

公开(公告)日：2022-12-22

申请号：US17350780

申请日：2021-06-17

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Yao HU ,  Xinyu DU ,  Wende ZHANG ,  Hao YU

IPC分类号： G01S17/931 ,  B60W60/00

摘要： A LIDAR-to-LIDAR alignment system includes a memory and an autonomous driving module. The memory stores first and second points based on outputs of first and second LIDAR sensors. The autonomous driving module performs a validation process to determine whether alignment of the LIDAR sensors satisfy an alignment condition. The validation process includes: aggregating the first and second points in a vehicle coordinate system to provide aggregated LIDAR points; based on the aggregated LIDAR points, performing (i) a first method including determining pitch and roll differences between the first and second LIDAR sensors, (ii) a second method including determining a yaw difference between the first and second LIDAR sensors, or (iii) point cloud registration to determine rotation and translation differences between the first and second LIDAR sensors; and based on results of the first method, the second method or the point cloud registration, determining whether the alignment condition is satisfied.