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公开(公告)号：US20220097714A1
公开(公告)日：2022-03-31
申请号：US17038141
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef , Vlad Goldner , Yevgeni Shaphirov
IPC: B60W40/072 , B60W60/00 , G06K9/00 , G06K9/62
Abstract: A system and method operate an autonomous vehicle. A sensor senses a road and an object. A processor determines, in a Cartesian reference frame, a representation of the road and a source point representative of the object, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in a road-based reference frame based on the linear projection, the first estimate being on a curve representing the road between the first waypoint and the second waypoint, determines a second estimate of the longitudinal component from the first estimate, determines a coordinate of the source point in the road-based reference frame from the second estimate and operates the vehicle with respect to the object using the coordinate.
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公开(公告)号：US11577733B2
公开(公告)日：2023-02-14
申请号：US17038141
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef , Vlad Goldner , Yevgeni Shaphirov
IPC: B60W40/072 , B60W60/00 , G06K9/62 , G06V20/56
Abstract: A system and method operate an autonomous vehicle. A sensor senses a road and an object. A processor determines, in a Cartesian reference frame, a representation of the road and a source point representative of the object, samples a first waypoint and a second waypoint from the representation of the road, determines a linear projection of the source point to a line connecting the first waypoint and the second waypoint, determines a first estimate of a longitudinal component of the source point in a road-based reference frame based on the linear projection, the first estimate being on a curve representing the road between the first waypoint and the second waypoint, determines a second estimate of the longitudinal component from the first estimate, determines a coordinate of the source point in the road-based reference frame from the second estimate and operates the vehicle with respect to the object using the coordinate.
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公开(公告)号：US12091060B2
公开(公告)日：2024-09-17
申请号：US17444321
申请日：2021-08-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Roi Reshef , Zahy Bnaya , Vlad Goldner
CPC classification number: B60W60/007 , B60W50/0097 , B60W50/10 , B60W2520/10 , B60W2520/12 , B60W2540/215 , B60W2552/00 , B60W2552/30 , B60W2555/60
Abstract: Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: identifying, by a processor, at least one constraint on a longitudinal dimension of an upcoming road; defining, by the processor, constraint activation logic based on a type of the at least one constraint; performing, by the processor, the constraint activation logic to determine a state of the constraint to be at least one of active and inactive; when the state of the constraint is active, validating, by the processor, a motion plan of the autonomous vehicle based on the constraint; and selectively controlling the autonomous vehicle based on the validating of the motion plan.
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公开(公告)号：US20230044344A1
公开(公告)日：2023-02-09
申请号：US17444321
申请日：2021-08-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Roi Reshef , Zahy Bnaya , Vlad Goldner
Abstract: Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: identifying, by a processor, at least one constraint on a longitudinal dimension of an upcoming road; defining, by the processor, constraint activation logic based on a type of the at least one constraint; performing, by the processor, the constraint activation logic to determine a state of the constraint to be at least one of active and inactive; when the state of the constraint is active, validating, by the processor, a motion plan of the autonomous vehicle based on the constraint; and selectively controlling the autonomous vehicle based on the validating of the motion plan.
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