公开(公告)号：US20160178802A1

公开(公告)日：2016-06-23

申请号：US14578638

申请日：2014-12-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： INNA STAINVAS OLSHANSKY ,  YOSI BUDA ,  ARIEL LIPSON

IPC: G01W1/10 ,  G01N21/55 ,  G01N21/49

CPC classification number: G01W1/10 ,  B60W40/06 ,  B60W40/068 ,  G01N21/4738 ,  G01N21/49 ,  G01N21/55 ,  G01N21/94 ,  G01N2021/556 ,  G01N2021/557 ,  G01N2021/945 ,  G01N2201/125 ,  G01S7/4802 ,  G01S17/936 ,  G01S17/95 ,  Y02A90/19

Abstract: A method of determining a surface condition of a road of travel. A light beam directed at a surface in the road of travel is transmitted utilizing a lidar system. A response is analyzed at a photodetector of the lidar system after transmitting the light beam. A determination is made whether a form of precipitation is present on the road of travel in response to analyzing the response at the photodetector. A precipitation indicating signal is generated in response to the determination that the ground surface includes a form of precipitation on the road of travel.

Abstract translation: 一种确定行驶道路表面状况的方法。 利用激光雷达系统传送指向行进道路表面的光束。 在发射光束之后，在激光雷达系统的光电检测器处分析响应。 响应于分析光电检测器上的响应，确定行驶道路上是否存在形式的降水。 响应于地面在行驶道路上包括降水形式的确定而产生降水指示信号。

公开(公告)号：US20160137209A1

公开(公告)日：2016-05-19

申请号：US14546123

申请日：2014-11-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： INNA STAINVAS OLSHANSKY ,  YOSI BUDA

IPC: B60W40/10 ,  B60W30/095 ,  G01D18/00

CPC classification number: G01D18/008 ,  G01C25/00

Abstract: A method is provided for motion-based calibration of multiple sensors. A first estimated motion is determined (e.g., for a vehicle or other object) via one of the sensors while determining a second estimated motion via a second of the sensors. A calibration transform is determined and relates the orientation and position of the first sensor to the orientation and position of the second sensor based on the estimated motions received from each sensor.

Abstract translation: 提供了一种用于多个传感器的基于运动的校准的方法。 经由传感器之一确定第一估计运动（例如，对于车辆或其他物体），同时经由第二传感器确定第二估计运动。 确定校准变换，并且基于从每个传感器接收的估计运动，将第一传感器的取向和位置与第二传感器的取向和位置相关联。

公开(公告)号：US20160026184A1

公开(公告)日：2016-01-28

申请号：US14339515

申请日：2014-07-24

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： INNA STAINVAS OLSHANSKY ,  YOSI BUDA

IPC: G05D1/02 ,  G01S17/93

CPC classification number: G01S17/936 ,  G01S7/4802 ,  G01S17/89 ,  G05D1/024 ,  G05D2201/0213 ,  G06K9/00 ,  G06K9/00791

Abstract: A method of detecting curb-like barriers along a route of travel using a lidar sensing system. Sparse measurement per each ray tracing is captured from a sensor using the lidar sensing system. Each ray tracing is analyzed separately by a processor. Curb candidates are identified for each respective beam. Curb candidates are combined to generate multiple curb representative hypotheses. A weighting factor is applied to each curb hypothesis. Curb hypothesis that represents the curb is selected. The curb detection is applied to an autonomous guidance system related to guiding a vehicle along the route of travel.

Abstract translation: 一种使用激光雷达感测系统沿着行进路线检测路缘形障碍物的方法。 使用激光雷达传感系统从传感器捕获每个光线跟踪的稀疏测量。 每个光线跟踪由处理器单独分析。 针对每个相应的光束识别路缘候选。 遏制候选人被组合以产生多个遏制代表假设。 每个路边假设应用加权因子。 选择代表路缘的遏制假设。 路边检测应用于沿着行进路线引导车辆的自主引导系统。