公开(公告)号：US12243328B2

公开(公告)日：2025-03-04

申请号：US17820317

申请日：2022-08-17

Applicant: GM Global Technology Operations LLC

Inventor： Jiejun Xu ,  Kenji Yamada ,  Michael J. Daily ,  Alireza Esna Ashari Esfahani ,  Hyukseong Kwon ,  Darren Michael Chan ,  Alan Perry ,  Joshua Lampkins

IPC: G06V20/58 ,  G06N3/045 ,  G06V10/82 ,  G06V20/62 ,  G06V30/262

Abstract: A road sign interpretation system includes a front-facing camera mounted on or in a vehicle collecting image data of multiple road signs. A first convolutional neural network (CNN) receives the image data from the front-facing camera and yields a set of sign predictions including one or more sign text instances. A second CNN defining a text extractor receives the image data from the front-facing camera and extracts text candidates including the multiple sign text instances. Sign and sign data localization is provided in the second CNN to compute a text order from the multiple sign text instances. A sign text synthesizer module receives individual sign text instances from the first CNN and individual ones of the sign text instances in digitized forms from an optical character recognizer (OCR). A semantic encoding and interpretation module receives the sign text instances and identifies semantics of the multiple road signs.

公开(公告)号：US20240062555A1

公开(公告)日：2024-02-22

申请号：US17820317

申请日：2022-08-17

Applicant: GM Global Technology Operations LLC

Inventor： Jiejun Xu ,  Kenji Yamada ,  Michael J. Daily ,  Alireza Esna Ashari Esfahani ,  Hyukseong Kwon ,  Darren Michael Chan ,  Alan Perry ,  Joshua Lampkins

IPC: G06V20/58 ,  G06V20/62 ,  G06V10/82 ,  G06V30/262 ,  G06N3/04

CPC classification number: G06V20/582 ,  G06V20/63 ,  G06V10/82 ,  G06V30/274 ,  G06N3/0454

Abstract: A road sign interpretation system includes a front-facing camera mounted on or in a vehicle collecting image data of multiple road signs. A first convolutional neural network (CNN) receives the image data from the front-facing camera and yields a set of sign predictions including one or more sign text instances. A second CNN defining a text extractor receives the image data from the front-facing camera and extracts text candidates including the multiple sign text instances. Sign and sign data localization is provided in the second CNN to compute a text order from the multiple sign text instances. A sign text synthesizer module receives individual sign text instances from the first CNN and individual ones of the sign text instances in digitized forms from an optical character recognizer (OCR). A semantic encoding and interpretation module receives the sign text instances and identifies semantics of the multiple road signs.

公开(公告)号：US20200310448A1

公开(公告)日：2020-10-01

申请号：US16364262

申请日：2019-03-26

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kenji Yamada ,  Rajan Bhattacharyya

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00

Abstract: Embodiments include methods, systems and computer readable storage medium for a method for behavioral path planning guidance for a vehicle is disclosed. The method includes installing a vehicle system into a vehicle, wherein the vehicle system provides path-planning guidance based on training data and one or more output trajectories generated from a plurality of predictive models and a plurality of input variables. The method includes determining, by a processor, a location of the vehicle on a map containing a road network and determining, by the processor, whether one or more objects exist within a predetermined range of the vehicle. The method includes selecting, by the processor, an output trajectory to traverse the road network based on the location of the vehicle on the map and the existence of one or more objects. The method includes controlling, by the processor, operation of the vehicle using the output trajectory.

公开(公告)号：US20200070822A1

公开(公告)日：2020-03-05

申请号：US16121485

申请日：2018-09-04

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kenji Yamada ,  Rajan Bhattacharyya

IPC: B60W30/095 ,  G06F17/50 ,  G05D1/00

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving sensor data sensed from an environment associated with the vehicle; processing, by a processor, the sensor data to determine a plurality of objects within the environment of the vehicle; processing, by the processor, the sensor data to determine feature data associated with each of the plurality of objects, wherein the feature data includes current data of each object, history data of each object, and interaction data between each object and at least two other objects; processing, by the processor, the feature data associated with a first object of the plurality of objects with a model to determine a future position of the first object; and controlling, by the processor, the vehicle based on the future position.

公开(公告)号：US11810006B2

公开(公告)日：2023-11-07

申请号：US16951459

申请日：2020-11-18

Applicant: GM Global Technology Operations LLC

Inventor： Jaehoon Choe ,  Rajan Bhattacharyya ,  Kyungnam Kim ,  Kenji Yamada

IPC: G06N5/04 ,  B60W60/00 ,  G06V20/58 ,  B60W30/095 ,  G06N5/045

CPC classification number: G06N5/04 ,  B60W60/001 ,  B60W60/0011 ,  B60W60/00272 ,  B60W60/00276 ,  G06V20/58 ,  B60W30/0956 ,  B60W60/0027 ,  B60W2556/10 ,  G06N5/045

Abstract: A vehicle and a system and a method of operating the vehicle. The system includes a reasoning engine, an episodic memory, a resolver and a controller. The reasoning engine infers a plurality of possible scenarios based on a current state of an environment of the vehicle. The episodic memory determines a historical likelihood for each of the plurality of possible scenarios. The resolver selects a scenario from the plurality of possible scenarios using the historical likelihoods. The controller operates the vehicle based on the selected scenario.

公开(公告)号：US20220126861A1

公开(公告)日：2022-04-28

申请号：US17082193

申请日：2020-10-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kenji Yamada ,  Kyungnam Kim ,  Rajan Bhattacharyya

IPC: B60W60/00 ,  G06N20/00

Abstract: A control system of the autonomous vehicle may generate multiple possible behavior control movements based on the driving goal and the assessment of the vehicle environment. In doing so, the method and system selects one of the best behavior control, among the multiple possible movements, and the selection is based on the quantitative grading of its driving behavior.

公开(公告)号：US11661082B2

公开(公告)日：2023-05-30

申请号：US17082193

申请日：2020-10-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kenji Yamada ,  Kyungnam Kim ,  Rajan Bhattacharyya

IPC: B60W60/00 ,  G06N20/00

CPC classification number: B60W60/0011 ,  B60W60/0027 ,  G06N20/00 ,  B60W2554/404 ,  B60W2554/4029

Abstract: A control system of the autonomous vehicle may generate multiple possible behavior control movements based on the driving goal and the assessment of the vehicle environment. In doing so, the method and system selects one of the best behavior control, among the multiple possible movements, and the selection is based on the quantitative grading of its driving behavior.

公开(公告)号：US11618479B2

公开(公告)日：2023-04-04

申请号：US17114822

申请日：2020-12-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Divya P. Kulkarni ,  Hyukseong Kwon ,  Kenji Yamada ,  Tiffany J. Hwu ,  Kyungnam Kim ,  Rajan Bhattacharyya ,  Michael J. Daily

IPC: B60W60/00 ,  G05D1/02

Abstract: A method of path planning for a host vehicle includes: receiving host vehicle, environmental and obstacle information; calculating one or more projected host vehicle locations; computing a projected obstacle location for each obstacle; and determining a collision potential between each projected host vehicle location and each projected obstacle location. Until a maximum number of steps is reached, and while at least one projected host vehicle location has an associated collision potential below a collision threshold, the method further includes repeating the calculating, computing and determining steps.

公开(公告)号：US20220177001A1

公开(公告)日：2022-06-09

申请号：US17114822

申请日：2020-12-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Divya P. Kulkarni ,  Hyukseong Kwon ,  Kenji Yamada ,  Tiffany J. Hwu ,  Kyungnam Kim ,  Rajan Bhattacharyya ,  Michael J. Daily

IPC: B60W60/00 ,  G05D1/02

Abstract: A method of path planning for a host vehicle includes: receiving host vehicle, environmental and obstacle information; calculating one or more projected host vehicle locations; computing a projected obstacle location for each obstacle; and determining a collision potential between each projected host vehicle location and each projected obstacle location. Until a maximum number of steps is reached, and while at least one projected host vehicle location has an associated collision potential below a collision threshold, the method further includes repeating the calculating, computing and determining steps.

公开(公告)号：US20220156605A1

公开(公告)日：2022-05-19

申请号：US16951459

申请日：2020-11-18

Applicant: GM Global Technology Operations LLC

Inventor： Jaehoon Choe ,  Rajan Bhattacharyya ,  Kyungnam Kim ,  Kenji Yamada

IPC: G06N5/04 ,  B60W60/00

Abstract: A vehicle and a system and a method of operating the vehicle. The system includes a reasoning engine, an episodic memory, a resolver and a controller. The reasoning engine infers a plurality of possible scenarios based on a current state of an environment of the vehicle. The episodic memory determines a historical likelihood for each of the plurality of possible scenarios. The resolver selects a scenario from the plurality of possible scenarios using the historical likelihoods. The controller operates the vehicle based on the selected scenario.