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公开(公告)号：US12270918B2
公开(公告)日：2025-04-08
申请号：US17933895
申请日：2022-09-21
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Shu Chen , Bo Yu , Joon Hwang , Carl P. Darukhanavala , Vivek Vijaya Kumar
Abstract: A global positioning system (GPS)-bias detection and reduction system including a GPS-bias model having GPS statistical data creating a database representing data collected from a vehicle group having thousands or multiple thousands of vehicles saved in a database. At least one newly collected vehicle GPS data point is compared to the GPS statistical data to reduce negative effects of GPS-bias and to update the vehicle GPS-bias correction based on a previous GPS-bias model. A selected road node and a segment of a roadway have a map matching performed using a nearest service from a collection location of the GPS statistical data. A GPS-bias is calculated using a look-up of the database. An estimated horizontal position error (EHPE) defining a quality indicator is applied to distinguish a good quality GPS statistical data from a poor quality GPS statistical data.
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公开(公告)号：US20250035463A1
公开(公告)日：2025-01-30
申请号：US18359017
申请日：2023-07-26
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Gui Chen , Fan Bai , Shuqing Zeng , Joon Hwang , Mason David Gemar
Abstract: A method for crowd-sourcing lane line map data for a vehicle includes receiving a plurality of observations. The method also includes classifying the plurality of observations into a plurality of observation categories. Each of the plurality of observation categories includes at least one of the plurality of observations. The method also includes determining a plurality of aligned point clouds based at least in part on the plurality of observations. One of the plurality of aligned point clouds corresponds to each of the plurality of observation categories. The method also includes determining a plurality of lane line maps based at least in part on the plurality of aligned point clouds. One of the plurality of lane line maps corresponds to each of the plurality of aligned point clouds. The method also includes updating a map database based at least in part on the plurality of lane line maps.
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公开(公告)号：US12111176B2
公开(公告)日：2024-10-08
申请号：US17821898
申请日：2022-08-24
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Joon Hwang , Gui Chen , Carl P. Darukhanavala , Vivek Vijaya Kumar , Shu Chen , Donald K. Grimm , Fan Bai
CPC classification number: G01C21/3822 , G01C21/3841 , G01C21/3878
Abstract: A method includes receiving sensor data from a plurality of sensors of a plurality of vehicles. The sensor data includes vehicle GPS data and sensed lane line data of the roadway. The method further includes creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data, fusing the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap, creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap, extracting lane line data from the plurality of multi-layer probability density bitmaps, and creating the high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the lane line data extracted from the plurality of multi-layer probability density bitmaps.
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公开(公告)号：US20240094411A1
公开(公告)日：2024-03-21
申请号：US17933895
申请日：2022-09-21
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Shu Chen , Bo Yu , Joon Hwang , Carl P. Darukhanavala , Vivek Vijaya Kumar
CPC classification number: G01S19/396 , G01S19/40
Abstract: A global positioning system (GPS)-bias detection and reduction system including a GPS-bias model having GPS statistical data creating a database representing data collected from a vehicle group having thousands or multiple thousands of vehicles saved in a database. At least one newly collected vehicle GPS data point is compared to the GPS statistical data to reduce negative effects of GPS-bias and to update the vehicle GPS-bias correction based on a previous GPS-bias model. A selected road node and a segment of a roadway have a map matching performed using a nearest service from a collection location of the GPS statistical data. A GPS-bias is calculated using a look-up of the database. An estimated horizontal position error (EHPE) defining a quality indicator is applied to distinguish a good quality GPS statistical data from a poor quality GPS statistical data.
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公开(公告)号：US20250137815A1
公开(公告)日：2025-05-01
申请号：US18494097
申请日：2023-10-25
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Bo Yu , Shuqing Zeng , Joon Hwang , Mason David Gemar , Fan Bai , Vivek Vijaya Kumar
IPC: G01C21/00
Abstract: A system for resolving discrepancies in map data includes one or more central computers in wireless communication with one or more vehicles. The one or more central computers are programmed to receive a first map dataset and a second map dataset. The one or more central computers are further programmed to receive a plurality of crowdsourced map datasets. Each of the plurality of crowdsourced map datasets represents the predefined geographical area. The one or more central computers are further programmed to compare each of the plurality of crowdsourced map datasets with the first map dataset and the second map dataset to determine one or more common lane lines. The one or more central computers are further programmed to determine a fused map dataset based on the first map dataset, the second map dataset, the plurality of crowdsourced map datasets, and the one or more common lane lines.
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Patent Agency Ranking
公开(公告)号：US20250102320A1
公开(公告)日：2025-03-27
申请号：US18473607
申请日：2023-09-25
Applicant: GM Global Technology Operations LLC
Inventor： Shuqing Zeng , Fan Bai , Bo Yu , Gui Chen , Cem U. Saraydar , Mason David Gemar
Abstract: A system for fusing two or more versions of map data together includes one or more central computers that receive road network data representing a road network for a predefined geofenced area. The central computers receive road network data that includes a discrete random curve that represents lane markings. The discrete random curve includes a plurality of state vectors that are each defined by a respective location and tangent angle. The central computers estimate the position for the state vectors of the discrete random curve based on a signed distance and the tangent angle by minimizing a spatial Kalman filter cost function and execute a Kalman smoothening function to estimate the position and the tangent angle for the state vectors that are part of the discrete random curve, where the state vectors each represent a map point of the fused map data.
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公开(公告)号：US20250042433A1
公开(公告)日：2025-02-06
申请号：US18364505
申请日：2023-08-03
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Gui Chen , Fan Bai , Shuqing Zeng , Joon Hwang , Mason David Gemar
Abstract: A method for merging lane line maps includes determining a road topology of a road segment. The method also includes identifying a plurality of fused points based at least in part on the road topology and based at least in part on a first lane line map of the road segment and a second lane line map of the road segment. The method also includes forming a fused lane line map based at least in part on the plurality of fused points. The method also includes performing a first action based at least in part on the fused lane line map.
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公开(公告)号：US12222217B2
公开(公告)日：2025-02-11
申请号：US17930503
申请日：2022-09-08
Applicant: GM Global Technology Operations LLC
Inventor： Bo Yu , Fan Bai , Gui Chen , Joon Hwang , Carl P. Darukhanavala , Vivek Vijaya Kumar , Shu Chen , Donald K. Grimm
Abstract: A method of creating a high-definition (HD) map of a roadway includes receiving a multi-layer probability density bitmap. The multi-layer probability density bitmap represents a plurality of lane lines of the roadway sensed by a plurality of sensors of a plurality of vehicles. The multi-layer probability density bitmap includes a plurality of points. The method further includes recursively conducting a hill climbing search using the multi-layer probability density bitmap to create a plurality of lines. In addition, the method includes creating the HD map of the roadway using the plurality of lines determined by the hill climbing search.
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公开(公告)号：US20240385010A1
公开(公告)日：2024-11-21
申请号：US18318247
申请日：2023-05-16
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Bo Yu , Shuqing Zeng , Fan Bai , Joon Hwang , Vivek Vijaya Kumar , Mason David Gemar , Carl P. Darukhanavala
IPC: G01C21/00
Abstract: A system for fusing two or more versions of map data together includes one or more central computers that receive road network data representing a road network for a predefined geofenced area. The central computers compute a plurality of points that are each positioned at a predetermined distance from one another. The central computers create a plurality of bounding boxes for the road network based on the plurality of points and create a set of closest matched map data points for each bounding box that is part of the road network by executing a map-matching registration algorithm to align the two or more versions of map data with one another. The central computers execute a maximum likelihood estimation algorithm to determine probability distribution parameters of the set of closest matched map data points compared to the ground truth map data.
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公开(公告)号：US20240280376A1
公开(公告)日：2024-08-22
申请号：US18171848
申请日：2023-02-21
Applicant: GM Global Technology Operations LLC
Inventor： Gui Chen , Bo Yu , Brent Navin Roger Bacchus , Shu Chen , Joon Hwang , Michael Alan Losh
CPC classification number: G01C21/3881 , G01C21/32 , G01C21/3815 , G06T7/38 , G06T17/005 , G06T17/05 , G06T2207/10028
Abstract: A method for quantifying map errors includes receiving first map data and second map data. The method includes receiving a road topographic map. The method further includes dividing the road into road segments. The method further includes creating a plurality of bounding boxes for each of the plurality of road segments. The method includes creating a first map tile and a second map tile by filtering out the bounding boxes. The method includes executing point cloud registration to align the plurality of first data points in the first map tile with the plurality of second data points in the second map tile to determine a plurality of absolute offsets between the plurality of first data points and the plurality of second data points. The method includes determining a relative map error between the first map and the second map based on the absolute offsets.
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