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    System and process for correcting gyroscope drift for a motor vehicle
    1.
    发明授权
    System and process for correcting gyroscope drift for a motor vehicle 有权

    公开(公告)号：US12092458B2

    公开(公告)日：2024-09-17

    申请号：US17539700

    申请日：2021-12-01

    Applicant: GM Global Technology Operations LLC

    Inventor： Brent Navin Roger Bacchus ,  Rakesh Kumar ,  Curtis L. Hay

    IPC: G01C19/00 ,  G01S13/931

    CPC classification number: G01C19/00 ,  G01S13/931

    Abstract: A system of a motor vehicle includes a radar unit for generating a radar signal associated with a target positioned about the vehicle. The system further includes a tracker generating a tracker signal associated with a radar heading and a doppler based on the radar signal. The system further includes a wheel speed sensor for generating a wheel speed signal associated with a velocity of the vehicle. The system further includes a gyroscope for generating a gyro signal associated with a measured yaw rate. The system further includes a computer having a processor and a computer readable medium. The processor is programmed to determine a gyro drift and a corrected yaw rate while the vehicle is in motion, with the gyro drift and the corrected yaw rate being based on at least the radar heading, the doppler effect, and the velocity of the vehicle, and the measured yaw rate.

    DETECTING THREE-DIMENSIONAL STRUCTURE MODELS AT RUNTIME IN VEHICLES
    2.
    发明申请
    DETECTING THREE-DIMENSIONAL STRUCTURE MODELS AT RUNTIME IN VEHICLES 有权

    公开(公告)号：US20220155451A1

    公开(公告)日：2022-05-19

    申请号：US16951502

    申请日：2020-11-18

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Brent N. Bacchus ,  Rakesh Kumar ,  Keun Jae Kim

    IPC: G01S17/89 ,  G01S17/86 ,  G01S17/931 ,  G06K9/00 ,  G06N3/02

    Abstract: A computer-implemented method for detecting one or more three-dimensional structures in a proximity of a vehicle at runtime includes generating, by a processor, a birds-eye-view (BEV) camera image of the proximity of the vehicle, the BEV camera image comprising two-dimensional coordinates of one or more structures in the proximity. The method further includes generating, by the processor, a BEV height image of the proximity of the vehicle, the BEV height image providing height of the one or more structures in the proximity. The method further includes detecting one or more edges of the three-dimensional structures based on the BEV camera image and the BEV height image. The method further includes generating models of the three-dimensional structures by plane-fitting based on the edges of the one or more three-dimensional structures. The method further includes reconfiguring a navigation system receiver based on the models of the three-dimensional structures.

    SYSTEM AND PROCESS FOR CORRECTING GYROSCOPE DRIFT FOR A MOTOR VEHICLE
    4.
    发明公开
    SYSTEM AND PROCESS FOR CORRECTING GYROSCOPE DRIFT FOR A MOTOR VEHICLE 审中-公开

    公开(公告)号：US20230168088A1

    公开(公告)日：2023-06-01

    申请号：US17539700

    申请日：2021-12-01

    Applicant: GM Global Technology Operations LLC

    Inventor： Brent Navin Roger Bacchus ,  Rakesh Kumar ,  Curtis L. Hay

    IPC: G01C19/00 ,  G01S13/931

    CPC classification number: G01C19/00 ,  G01S13/931

    Abstract: A system of a motor vehicle includes a radar unit for generating a radar signal associated with a target positioned about the vehicle. The system further includes a tracker generating a tracker signal associated with a radar heading and a doppler based on the radar signal. The system further includes a wheel speed sensor for generating a wheel speed signal associated with a velocity of the vehicle. The system further includes a gyroscope for generating a gyro signal associated with a measured yaw rate. The system further includes a computer having a processor and a computer readable medium. The processor is programmed to determine a gyro drift and a corrected yaw rate while the vehicle is in motion, with the gyro drift and the corrected yaw rate being based on at least the radar heading, the doppler effect, and the velocity of the vehicle, and the measured yaw rate.

    SYSTEM AND METHOD FOR POSITIONING IN URBAN CANYONS
    5.
    发明申请
    SYSTEM AND METHOD FOR POSITIONING IN URBAN CANYONS 审中-公开

    公开(公告)号：US20200233094A1

    公开(公告)日：2020-07-23

    申请号：US16255198

    申请日：2019-01-23

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Rakesh Kumar ,  CURTIS L. HAY ,  Steven R. Croyle

    IPC: G01S19/40 ,  G01S19/43 ,  G01S19/24 ,  G05D1/02

    Abstract: A method of determining position includes providing a GNSS positioning receiver, a controller, and a non-transient computer-readable data storage. The data storage is provided with at least one 3-dimensional building model having a geographical identifier. The method also includes receiving at least one GNSS position signal. The method further includes calculating an approximate position based on the at least one GNSS position signal and that a respective GNSS position signal of the at least one GNSS position signal is a non-line-of-sight signal. The method further includes calculating, based on the building model and the respective GNSS position signal, a modeled position, and refining the modeled position based on a current heading and speed of the positioning receiver and a carrier-phase of the at least one GNSS position signal. The method still further includes calculating a final position based on the approximate position, the modeled position, and the refining step.

    Method and apparatus for Kalman filter parameter selection using map data
    9.
    发明授权
    Method and apparatus for Kalman filter parameter selection using map data 有权

    公开(公告)号：US11131776B2

    公开(公告)日：2021-09-28

    申请号：US16543709

    申请日：2019-08-19

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Jayant Bansal ,  Rakesh Kumar

    IPC: G01S19/39 ,  G05D1/02

    Abstract: The present application relates to a method and apparatus including a sensor to detect a current location, a memory for storing a first set of Kalman filter parameters associated with a first environmental condition and a second set of Kalman filter parameters associated with a second environmental condition, a processor for performing an assisted driving algorithm according to the first set of Kalman filter parameters, for receiving the current location, for determining a second set of Kalman filter parameters in response to the current location, for performing the assisted driving algorithm according to the second set of Kalman filter parameters, and for generating a control signal in response to the assisted driving algorithm according to the second set of Kalman filter parameters, and a vehicle controller operative to control a vehicle in response to the control signal.

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