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公开(公告)号：US12094220B2
公开(公告)日：2024-09-17
申请号：US17651405
申请日：2022-02-16
发明人： Binbin Li , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC分类号： G06V20/588 , B60W30/025 , B60W2420/403 , B60W2420/408 , B60W2552/53
摘要： Methods and systems for a vehicle are provided. In one embodiment, the method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, the ground normal vector based on a sliding widow method; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.
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公开(公告)号：US20240276100A1
公开(公告)日：2024-08-15
申请号：US18169352
申请日：2023-02-15
CPC分类号： H04N23/695 , G06T7/11 , G06V10/25 , G06V10/44 , G06V10/56 , G06V10/761 , G06T2207/10024 , G06T2207/30252
摘要： A vehicle, system and method of aligning a first camera of the vehicle with a second camera of the vehicle. The system includes a processor configured to detect a first set of features in a first image obtained from the first camera, detect a second set of features in a second image obtained from the second camera, determine a first region of interest in the first image, determine a second region of interest in the second image, generate a feature pair by matching the first set of features to the second set of features using the first region of interest and the second region of interest, align the first camera with the second camera using the feature pair, and control an operation at the vehicle based on the alignment between the first camera and the second camera.
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公开(公告)号：US20230326077A1
公开(公告)日：2023-10-12
申请号：US17719151
申请日：2022-04-12
CPC分类号： G06T7/80 , G06V10/40 , B60W40/04 , G06T2207/30252 , B60W2420/42
摘要： A vehicle, a system and a method of navigating the vehicle. The system includes a camera conveyed by the vehicle and a processor. The camera is configured to obtain an original image data file of an environment. The processor is configured to reduce the original image data file to obtain a reduced image data file and determine an alignment between a camera-centered coordinate system and a ground coordinate system using the reduced image data file.
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公开(公告)号：US20230260157A1
公开(公告)日：2023-08-17
申请号：US17651407
申请日：2022-02-16
发明人： BINBIN LI , Xinyu Du , Yao Hu , Hao Yu , Wende Zhang
CPC分类号： G06T7/80 , G06V10/40 , G06V10/22 , G06T7/73 , G06T2207/30252 , G06T2207/30244
摘要： Systems and methods for a vehicle are provided. In one embodiment, a method includes: receiving image data defining a plurality of images associated with an environment of the vehicle; determining, by a processor, feature points within at least one image of the plurality of images; selecting, by the processor, a subset of the feature points as ground points based on a fixed two dimensional image road mask and a three dimensional region; determining, by the processor, a ground plane based on the subset of feature points; determining, by the processor, a ground normal vector from the ground plane; determining, by the processor, a camera to ground alignment value based on the ground normal vector; and generating, by the processor, second image data based on the camera to ground alignment value.
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公开(公告)号：US20230073065A1
公开(公告)日：2023-03-09
申请号：US17469409
申请日：2021-09-08
发明人： Rasoul Salehi , Arun Adiththan , Yao Hu , Yilu Zhang
IPC分类号： B60W60/00 , B60W50/023 , B60W50/029 , B60W50/02
摘要： An autonomous driving system for an autonomous vehicle includes a plurality of on-board autonomous sensors that sense data related to operation of the autonomous vehicle and a surrounding environment and an automated driving controller in electronic communication with the plurality of on-board autonomous sensors. The automated driving controller is instructed to receive an indication one or more of the plurality of on-board autonomous sensors are non-functional and a secondary autonomous sensor system including one or more replacement sensors are installed. The automated driving controller is instructed to verify the secondary autonomous sensor system based on a security check and perform a redundancy check between the one or more replacement sensors and the plurality of on-board autonomous sensors. In response to determining the one or more replacement sensors are valid based on the redundancy check, the automated driving controller operates the autonomous vehicle in a limp home mode.
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公开(公告)号：US20230046232A1
公开(公告)日：2023-02-16
申请号：US17400529
申请日：2021-08-12
发明人： Xinyu Du , Yao Hu , Wende Zhang , Hao Yu
IPC分类号： G01S7/497 , G01S17/86 , G01S17/931
摘要： A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, a camera to obtain camera data in a camera coordinate system, and processing circuitry to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the camera data.
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公开(公告)号：US20210049377A1
公开(公告)日：2021-02-18
申请号：US16541421
申请日：2019-08-15
发明人： Yao Hu
摘要： In various embodiments, method, systems, and vehicles are provided that include: obtaining, via one or more sensors, sensor data pertaining including one or more images of one or more detected objects in proximity to a vehicle; processing the one or more images via a neural network model of a perception system of the vehicle, generating perception results for the one or more images; analyzing, via a processor, a plurality of potential faults in the perception system, based on the perception results, using a respective different technique for each of the plurality of potential faults, for the neural network model; determining a fault of the plurality of potential faults, via the processor, based on the analyzing; and taking a vehicle control action with respect to the vehicle, based on the fault, via instructions provided by the processor.
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公开(公告)号：US10832503B2
公开(公告)日：2020-11-10
申请号：US16107074
申请日：2018-08-21
发明人： Yao Hu , Atul Nagose , Thomas L. Grime , Faez Yahya
摘要： A fluidic subsystem disposed on a vehicle includes an electric motor, a motor driver, and a fluidic pump that is disposed in a fluidic circuit that is monitored by a pressure sensor. A controller includes an instruction set that is executable to dynamically observe operation of the fluidic subsystem, from which it determines a plurality of observed parameters associated with the operation of the fluidic subsystem and a plurality of estimated parameters associated with the fluidic subsystem. A plurality of fault isolation parameters are determined based upon the observed parameters and the estimated parameters, and a fault in the fluidic subsystem is isolated based upon the fault isolation parameters. The isolated fault is communicated via the controller.
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公开(公告)号：US10600261B2
公开(公告)日：2020-03-24
申请号：US15725941
申请日：2017-10-05
发明人： Xiaoyu Huang , Shengbing Jiang , Wen-Chiao Lin , Chaitanya Sankavaram , Yao Hu , Shiming Duan , Yilu Zhang , Paul E. Krajewski
摘要： A method for use with a vehicle having one or more subsystems includes receiving vehicle health management (VHM) information via a controller indicative of a state of health of the subsystem. The VHM information is based on prior testing results of the subsystem. The method includes determining a required testing profile using the testing results, applying the testing profile to the subsystem to thereby control a state of the subsystem, and measuring a response of the subsystem to the applied testing profile. The method also includes recording additional testing results in memory of the controller that is indicative of a response of the subsystem to the applied testing profile. The vehicle includes a plurality of subsystems and a controller configured to execute the method.
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公开(公告)号：US20190170565A1
公开(公告)日：2019-06-06
申请号：US15829366
申请日：2017-12-01
发明人： Shiming Duan , Yao Hu , Mutasim A. Salman , Paul E. Krajewski
摘要： Methods and apparatus are provided for determining an offset detection for a fuel level sensor fault. The method includes receiving an electrical resistance reading from a potentiometer of a fuel level sensor and generating an estimated fuel level based on an established fuel usage table that references the electrical resistance reading. The fuel level sensitivity is calculated based on the change in electrical resistance readings divided by the change in the estimated fuel levels (R/F). The fuel level sensitivity is compared to a predetermined sensitivity curve to determine any necessary offset to the electrical resistance reading. Finally, the fuel usage table is updated with the offset to the electrical resistance reading.
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