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    Object fusion system of multiple radar imaging sensors
    1.
    发明授权
    Object fusion system of multiple radar imaging sensors 有权
    多雷达成像传感器的物体融合系统

    公开(公告)号：US09255988B2

    公开(公告)日：2016-02-09

    申请号：US14156681

    申请日：2014-01-16

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng ,  Jeremy A. Salinger ,  Bakhtiar B. Litkouhi ,  Kevin A. O'Dea ,  Joel Pazhayampallil ,  Mohannad Murad ,  James N. Nickolaou

    IPC: G01S13/66 ,  G01S13/87 ,  G01S13/93 ,  G01S13/90 ,  G01S13/72

    CPC classification number: G01S13/66 ,  G01S13/726 ,  G01S13/878 ,  G01S13/9029 ,  G01S13/931 ,  G01S2013/9375 ,  G01S2013/9378

    Abstract: A method of detecting and tracking objects using multiple radar sensors. Objects relative to a host vehicle are detected from radar data generated by a sensing device. The radar data includes Doppler measurement data. Clusters are formed, by a processor, as a function of the radar data. Each cluster represents a respective object. Each respective object is classified, by the processor, as stationary or non-stationary based on the Doppler measurement data of each object and a vehicle speed of the host vehicle. Target tracking is applied, by the processor, on an object using Doppler measurement data over time in response to the object classified as a non-stationary object; otherwise, updating an occupancy grid in response to classifying the object as a stationary object.

    Abstract translation: 使用多个雷达传感器检测和跟踪物体的方法。 从感测装置生成的雷达数据中检测相对于主车辆的物体。 雷达数据包括多普勒测量数据。 作为雷达数据的函数，由处理器形成群集。 每个集群表示相应的对象。 基于每个物体的多普勒测量数据和主车辆的车速，每个对象被处理器分类为静止或非静止。 目标跟踪由处理器应用于随着时间的多普勒测量数据响应被分类为非静止对象的对象而应用于对象; 否则，响应于将对象分类为静止对象来更新占用网格。

    SENSOR-AIDED VEHICLE POSITIONING SYSTEM
    2.
    发明申请
    SENSOR-AIDED VEHICLE POSITIONING SYSTEM 有权
    传感器辅助车辆定位系统

    公开(公告)号：US20150081211A1

    公开(公告)日：2015-03-19

    申请号：US14028709

    申请日：2013-09-17

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng ,  Jeremy A. Salinger ,  Bakhtiar B. Litkouhi ,  Joel Pazhayampallil ,  Kevin A. O'Dea ,  James N. Nickolaou ,  Mark E. Shields

    IPC: G01C21/30 ,  B60W30/095 ,  B60W30/12 ,  G05D1/02 ,  G01S13/93

    CPC classification number: G01C21/30 ,  B60W30/0956 ,  B60W30/12 ,  G01C21/3602 ,  G01S5/16 ,  G01S13/06 ,  G01S13/931 ,  G01S19/42 ,  G01S19/48 ,  G01S2013/9357 ,  G05D1/0212

    Abstract: A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.

    Abstract translation: 一种用于在数字地图中定位车辆的方法和系统包括在行进路面上生成车辆的GPS坐标，并且从数据库中根据GPS坐标的位置从数据库中检索由车辆行驶的区域的数字地图。 数字地图包括旅行的道路和注册的路边物体的地理地图。 通过纵向和横向坐标在数字地图中确定注册的路边物体。 旅行区域的路边物体被车辆感知。 感测到的路边物体在数字地图上被识别。 使用在数字地图中识别的感测到的路边物体的坐标来确定行进路面上的车辆位置。 根据所感测的路边物体的坐标，车辆的位置作为GPS坐标和确定的车辆位置的函数被定位在道路中。

    System and method for improving sensor visibility of vehicle in autonomous driving mode
    3.
    发明授权
    System and method for improving sensor visibility of vehicle in autonomous driving mode 有权
    用于提高车辆在自主驾驶模式下的传感器可视性的系统和方法

    公开(公告)号：US08798841B1

    公开(公告)日：2014-08-05

    申请号：US13827745

    申请日：2013-03-14

    Applicant: GM Global Technology Operations LLC

    Inventor： James N. Nickolaou ,  Joel Pazhayampallil ,  Michael P. Turski

    IPC: G05D1/00

    CPC classification number: B62D15/0265 ,  B60W30/12 ,  B60W30/14 ,  B60W30/18163

    Abstract: A system and method designed to improve sensor visibility for a host vehicle operating in an autonomous driving mode when one or more forward-looking sensors are being occluded or obstructed. According to an exemplary embodiment, when a forward-looking object detection sensor is being obstructed by a target vehicle located closely ahead of the host vehicle, the method determines if lateral movement by the host vehicle within its own lane is appropriate to improve sensor visibility around the target vehicle. If lateral movement is deemed appropriate, the method generates lateral movement commands that dictate the direction and distance of the lateral movement by the host vehicle. This may enable the object detection sensors to at least partially see around the obstructing target vehicle and improve the preview distance of the sensors.

    Abstract translation: 一种系统和方法，其被设计为当一个或多个前视传感器被遮挡或阻塞时，以自主驾驶模式运行的主车辆的传感器可视性提高。 根据示例性实施例，当前方物体检测传感器被位于主车辆紧邻前方的目标车辆阻挡时，该方法确定主车辆在其自身车道内的横向移动是否适合于提高传感器周围的可见度 目标车辆。 如果横向运动被认为是适当的，则该方法产生横向运动命令，其指示主车辆的横向运动的方向和距离。 这可以使得物体检测传感器至少部分地看到阻挡目标车辆周围并提高传感器的预览距离。

    Sensor-aided vehicle positioning system
    4.
    发明授权
    Sensor-aided vehicle positioning system 有权
    传感器辅助车辆定位系统

    公开(公告)号：US09435653B2

    公开(公告)日：2016-09-06

    申请号：US14028709

    申请日：2013-09-17

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shuqing Zeng ,  Jeremy A. Salinger ,  Bakhtiar B. Litkouhi ,  Joel Pazhayampallil ,  Kevin A. O'Dea ,  James N. Nickolaou ,  Mark E. Shields

    IPC: G01C21/30 ,  B60W30/095 ,  B60W30/12 ,  G01S13/93 ,  G05D1/02 ,  G01C21/36 ,  G01S13/06 ,  G01S19/48 ,  G01S5/16

    CPC classification number: G01C21/30 ,  B60W30/0956 ,  B60W30/12 ,  G01C21/3602 ,  G01S5/16 ,  G01S13/06 ,  G01S13/931 ,  G01S19/42 ,  G01S19/48 ,  G01S2013/9357 ,  G05D1/0212

    Abstract: A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.

    Abstract translation: 一种用于在数字地图中定位车辆的方法和系统包括：在行进路面上生成车辆的GPS坐标，并根据GPS坐标的位置从数据库中检索由车辆行驶的区域的数字地图。 数字地图包括旅行的道路和注册的路边物体的地理地图。 通过纵向和横向坐标在数字地图中确定注册的路边物体。 旅行区域的路边物体被车辆感知。 感测到的路边物体在数字地图上被识别。 使用在数字地图中识别的感测到的路边物体的坐标来确定行进路面上的车辆位置。 根据所感测的路边物体的坐标，车辆的位置作为GPS坐标和确定的车辆位置的函数被定位在道路中。

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