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.

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.