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公开(公告)号:US11858507B2
公开(公告)日:2024-01-02
申请号:US17147782
申请日:2021-01-13
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Hyukseong Kwon , Rajan Bhattacharyya , Michael J. Daily
IPC: B60W30/095 , B60W30/09 , B60W60/00 , B60W40/04
CPC classification number: B60W30/0956 , B60W30/09 , B60W40/04 , B60W60/0027 , B60W2420/42 , B60W2554/4041 , B60W2554/4045
Abstract: A method of using perception-inspired event generation for situation awareness for a vehicle, including receiving perception input data from a sensor of the vehicle and processing the perception input data to classify and generate parameters related to an external entity in a vicinity of the vehicle. The method includes generating a hierarchical event structure that classifies and prioritizes the perception input data by classifying the external entity into an attention zone and prioritizing the external entity within the attention zone according to a risk level value for the external entity. A higher risk level value indicates a higher priority within the attention zone. The method further includes developing a behavior plan for the vehicle based on the hierarchical event structure.
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公开(公告)号:US10409279B2
公开(公告)日:2019-09-10
申请号:US15420946
申请日:2017-01-31
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Hyukseong Kwon , Youngkwan Cho , Rajan Bhattacharyya , Michael J. Daily
Abstract: A system and method is taught for data processing in an autonomous vehicle control system. Using information is acquired from the vehicle, network interface, and sensors mounted on the vehicle, the system can perceive situations around it with much less complexity in computation without losing crucial details, and then make navigation and control decisions. The system and method are operative to generate situation aware events, store them, and recall to predict situations for autonomous driving.
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公开(公告)号:US20190146493A1
公开(公告)日:2019-05-16
申请号:US15811885
申请日:2017-11-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Matthew E. Phillips , Michael J. Daily , Jaehoon Choe , Nandan Thor , Dylan T. Bergstedt
Abstract: The present application generally relates to methods and apparatus for evaluating and assigning a complexity metric to a driving scenario. More specifically, the application teaches a method and apparatus for breaking a scenario into subtasks, assigning each subtask a complexity value and generating an overall complexity metric in response to a weighted combination of the subtask complexities as well as human-perceived task complexity.
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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.
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公开(公告)号:US20220219685A1
公开(公告)日:2022-07-14
申请号:US17147782
申请日:2021-01-13
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Hyukseong Kwon , Rajan Bhattacharyya , Michael J. Daily
IPC: B60W30/095 , B60W30/09 , B60W60/00 , B60W40/04
Abstract: A method of using perception-inspired event generation for situation awareness for a vehicle, including receiving perception input data from a sensor of the vehicle and processing the perception input data to classify and generate parameters related to an external entity in a vicinity of the vehicle. The method includes generating a hierarchical event structure that classifies and prioritizes the perception input data by classifying the external entity into an attention zone and prioritizing the external entity within the attention zone according to a risk level value for the external entity. A higher risk level value indicates a higher priority within the attention zone. The method further includes developing a behavior plan for the vehicle based on the hierarchical event structure.
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6.
公开(公告)号:US20220144309A1
公开(公告)日:2022-05-12
申请号:US17094255
申请日:2020-11-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Tiffany J. Hwu , Iman Mohammadrezazadeh , Michael J. Daily , Rajan Bhattacharyya
Abstract: An ego vehicle includes decider modules and a grader module coupled to a resolver module. The decider modules generate trajectory decisions at a current time, generate a current two-dimensional slice of a flat space around the ego vehicle, generate future two-dimensional slices of the flat space by projecting the current two-dimensional slice of the flat space forward in time, and generate a three-dimensional state space by stacking the current two-dimensional slice and the future two-dimensional slices. The grader module generates rewards for the trajectory decisions based on a recent behavior of an ego vehicle. The resolver module selects a final trajectory decision for the ego vehicle from the trajectory decisions based on the three-dimensional state space and the rewards. The current two-dimensional slice includes a current ego vehicle location and current neighboring vehicle locations. The future two-dimensional slices include future ego vehicle locations and future neighboring vehicle locations.
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公开(公告)号:US20200310423A1
公开(公告)日:2020-10-01
申请号:US16365517
申请日:2019-03-26
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Youngkwan Cho , Rajan Bhattacharyya , Michael J. Daily
Abstract: An autonomous vehicle, system and method of operating the autonomous vehicle. The system includes an episodic memory, a hyper-association module and a navigation system. The episodic memory stores a plurality of episodes, recalls a plurality of candidate episodes in response to receiving a partial prefix and recalls a hypothesis episode in response to receiving an intermediate episode. The hyper-association module receives the plurality of candidate episodes from the episodic memory and obtains the intermediate episode from the plurality of candidate episodes. The navigation system navigates the autonomous vehicle using the hypothesis episode.
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公开(公告)号:US20200310422A1
公开(公告)日:2020-10-01
申请号:US16365501
申请日:2019-03-26
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Rajan Bhattacharyya , Chong Ding , Vincent De Sapio , Michael J. Daily , Kyungnam Kim , Gavin D. Holland , Alexander S. Graber-Tilton , Kevin R. Martin
Abstract: An autonomous vehicle, cognitive system for operating an autonomous vehicle and method of operating an autonomous vehicle. The cognitive system includes one or more hypothesizer modules, a hypothesis resolver, one or more decider modules, and a decision resolver. Data related to an agent is received at the cognitive system. The one or more hypothesizer modules create a plurality of hypotheses for a trajectory of the agent based on the received data. The hypothesis resolver selects a single hypothesis for the trajectory of the agent from the plurality of hypotheses based on a selection criteria. The one or more decider modules create a plurality of decisions for a trajectory of the autonomous vehicle based on the selected hypothesis for the agent. The decision resolver selects a trajectory for the autonomous vehicle from the plurality of decisions. The autonomous vehicle is operated based on the selected trajectory.
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9.
公开(公告)号:US20190332109A1
公开(公告)日:2019-10-31
申请号:US15964401
申请日:2018-04-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Soheil Kolouri , Cedrick G. Ngalande , Kyungnam Kim , Michael J. Daily
Abstract: In various embodiments, methods, systems, and autonomous vehicles are provided. In one exemplary embodiment, a method is provided that includes obtaining first sensor inputs pertaining to one or more actors in proximity to an autonomous vehicle; obtaining second sensor inputs pertaining to operation of the autonomous vehicle; obtaining, via a processor, first neural network outputs via a first neural network, using the first sensor inputs; and obtaining, via the processor, second neural network outputs via a second neural network, using the first network outputs and the second sensor inputs, the second neural network outputs providing one or more recommended actions for controlling the autonomous vehicle.
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公开(公告)号:US10345811B2
公开(公告)日:2019-07-09
申请号:US15811878
申请日:2017-11-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor: Matthew E. Phillips , Dylan T. Bergstedt , Nandan Thor , Jaehoon Choe , Michael J. Daily
Abstract: The present application generally relates to methods and apparatus for evaluating driving performance under a plurality of driving scenarios and conditions. More specifically, the application teaches a method and apparatus for testing a driving scenario repetitively while altering a parametric variation, such as fog level, in order to evaluate driving system performance under changing conditions.
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