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    AGGREGATION-BASED LIDAR DATA ALIGNMENT
    2.
    发明公开
    AGGREGATION-BASED LIDAR DATA ALIGNMENT 审中-公开

    公开(公告)号：US20230213633A1

    公开(公告)日：2023-07-06

    申请号：US17569948

    申请日：2022-01-06

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Xinyu DU ,  Yao HU ,  Wende ZHANG ,  Hao YU

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

    CPC classification number: G01S7/4972 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  B60W60/00 ,  B60W2420/52

    Abstract: 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.

    ONLINE VALIDATION OF LIDAR-TO-LIDAR ALIGNMENT AND LIDAR-TO-VEHICLE ALIGNMENT
    4.
    发明申请
    ONLINE VALIDATION OF LIDAR-TO-LIDAR ALIGNMENT AND LIDAR-TO-VEHICLE ALIGNMENT 有权

    公开(公告)号：US20220404506A1

    公开(公告)日：2022-12-22

    申请号：US17350780

    申请日：2021-06-17

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Yao HU ,  Xinyu DU ,  Wende ZHANG ,  Hao YU

    IPC: G01S17/931 ,  B60W60/00

    Abstract: 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.

    VEHICLE ENVIRONMENT IMAGING SYSTEMS AND METHODS
    6.
    发明申请
    VEHICLE ENVIRONMENT IMAGING SYSTEMS AND METHODS 审中-公开

    公开(公告)号：US20180201227A1

    公开(公告)日：2018-07-19

    申请号：US15409022

    申请日：2017-01-18

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Xiujie GAO ,  Jinsong WANG ,  Wende ZHANG

    IPC: B60R25/30

    CPC classification number: B60R25/305

    Abstract: A vehicle includes at least one imaging device configured to generate image data indicative of a vicinity of the vehicle. The vehicle also includes a user interface display configured to display image data from the at least one imaging device. A vehicle controller is programmed to monitor image data for the presence of moving external objects within the vicinity, and to activate the user interface display to display image data in response to detecting a moving external object in the vicinity while the vehicle is at a rest condition. The controller is also programmed to assign a threat assessment value based on conditions in the vicinity of the vehicle, and upload image data to an off-board server in response to the threat assessment value being greater than a first threshold.

    SYSTEMS AND METHODS FOR ASSIGNING RESPONSIBILITY DURING TRAFFIC INCIDENTS
    7.
    发明申请
    SYSTEMS AND METHODS FOR ASSIGNING RESPONSIBILITY DURING TRAFFIC INCIDENTS 审中-公开

    公开(公告)号：US20180047283A1

    公开(公告)日：2018-02-15

    申请号：US15555798

    申请日：2015-03-04

    Applicant: Wende ZHANG ,  GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Wende ZHANG ,  Jiang DU ,  Xiaowen DAI ,  Peggy Wang

    IPC: G08G1/01 ,  G08G1/056

    CPC classification number: G08G1/0137 ,  B62D41/00 ,  G07C5/00 ,  G07C5/008 ,  G07C5/085 ,  G08G1/01 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/056

    Abstract: Systems and methods analyze inputs (110,120) from one or more sources, internal or external to a vehicle, to allocate responsibility of a vehicle during a traffic incident. The system (100) includes a controller (200) for implementing a computer-readable storage device comprising a set of predetermined fault rules that cause a processor (260) of the storage device to perform operations. The system (100) analyzes the inputs (110,120), using the processor (260), according to the predetermined fault rules. In one embodiment, the system (100) includes a processor (260) and a computer-readable storage device comprising instructions that cause the processor (260) to perform operations for providing context-based assistance to a vehicle user. The operations include, in part, the system (100) parsing information received from the inputs (110,120) that can be processed to allocate responsibility among individuals operating vehicles (10,20) involved in the incident.

    ONLINE LIDAR-TO-GROUND ALIGNMENT
    8.
    发明公开
    ONLINE LIDAR-TO-GROUND ALIGNMENT 审中-公开

    公开(公告)号：US20230266451A1

    公开(公告)日：2023-08-24

    申请号：US17676284

    申请日：2022-02-21

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Yao HU ,  Xinyu DU ,  Wende ZHANG ,  Hao YU

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

    CPC classification number: G01S7/4972 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/931 ,  G01S17/86

    Abstract: 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.

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