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    ONLINE LIDAR-TO-GROUND ALIGNMENT
    1.
    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.

    AGGREGATION-BASED LIDAR DATA ALIGNMENT
    3.
    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.

    FAULT ISOLATION AND MITIGATION UPON LANE MARKING MISDETECTION ON ROADWAYS
    4.
    发明公开
    FAULT ISOLATION AND MITIGATION UPON LANE MARKING MISDETECTION ON ROADWAYS 审中-公开

    公开(公告)号：US20230192103A1

    公开(公告)日：2023-06-22

    申请号：US17557156

    申请日：2021-12-21

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Wen-Chiao LIN ,  Zhongyu YANG ,  Yao HU ,  Xinyu DU ,  Yilu ZHANG

    IPC: B60W50/02 ,  B60W30/12

    CPC classification number: B60W50/02 ,  B60W30/12 ,  B60W2050/0072

    Abstract: A system for a vehicle includes a plurality of sensors onboard the vehicle and a controller. A first sensor of the plurality of sensors is configured to detect lane markings on a roadway. The controller is configured to store data from the plurality of sensors. In response to receiving an indication indicating a misdetection of lane markings on the roadway based on data received from the first sensor, the controller is configured to execute in parallel a plurality of procedures configured to detect a plurality of causes for the misdetection of lane markings, respectively, based on the stored data; isolate one of the causes as a root cause for the misdetection of lane markings; and provide a response for mitigating the misdetection of lane markings on the roadway based on the root cause for the misdetection of lane markings.

    Adaptive Prognostics Systems and Methods for Vehicles
    5.
    发明申请
    Adaptive Prognostics Systems and Methods for Vehicles 有权

    公开(公告)号：US20210101607A1

    公开(公告)日：2021-04-08

    申请号：US16595738

    申请日：2019-10-08

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Xinyu DU ,  Atul NAGOSE ,  Joshua J. SANCHEZ ,  Paul E. KRAJEWSKI

    IPC: B60W50/04 ,  G06N20/00 ,  G07C5/08 ,  G06F17/50

    Abstract: A system includes an assessment module and a training module. The assessment module is configured to receive event data about an event associated with a subsystem of a vehicle. The assessment module is configured to determine deviations between reference data for the subsystem indicating normal operation of the subsystem and portions of the event data that precede and follow the event. The assessment module is configured to determine whether the event data indicates a fault associated with the subsystem by comparing the deviations to a threshold deviation. The training module is configured to update a model trained to identify faults in vehicles to identify the event as a fault associated with the subsystem of the vehicle based on the event data in response to the deviations indicating a fault associated with the subsystem.

    ONLINE VALIDATION OF LIDAR-TO-LIDAR ALIGNMENT AND LIDAR-TO-VEHICLE ALIGNMENT
    6.
    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 FAULT DIAGNOSTICS AND PROGNOSTICS USING AUTOMATIC DATA SEGMENTATION AND TRENDING
    8.
    发明申请
    VEHICLE FAULT DIAGNOSTICS AND PROGNOSTICS USING AUTOMATIC DATA SEGMENTATION AND TRENDING 有权

    公开(公告)号：US20220222981A1

    公开(公告)日：2022-07-14

    申请号：US17148643

    申请日：2021-01-14

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Xinyu DU ,  Zhongyu YANG ,  Joshua J. SANCHEZ ,  Kevin M. CORR ,  Yilu ZHANG ,  Mateusz M. NOWAK

    IPC: G07C5/08

    Abstract: A controller processes data from one or more sensors of a subsystem of a vehicle. The processing includes smoothing the data and calculating a mean of the data. The controller identifies a transition point in the processed data where a moving average of the data is less than the mean by a predetermined amount indicating a trend. The controller selects a segment of the processed data subsequent to the transition point, detects the trend in the segment using regression, and extrapolates the detected trend to reach a predetermined fault threshold. The controller predicts a failure of the subsystem based on a slope of the extrapolated trend and provides an indication of the prediction based on the slope to schedule a service for the subsystem.

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