公开(公告)号：US11853061B2

公开(公告)日：2023-12-26

申请号：US17491453

申请日：2021-09-30

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Andrea Allais ,  Micah Christopher Chambers ,  William Gongshu Xie ,  Adam Samuel Cadien ,  Elliot Branson

IPC: G05D1/00 ,  G05D1/02 ,  B60W10/06 ,  B60W10/20 ,  G06N3/08 ,  B60W10/18 ,  G01S17/931 ,  G01S7/48

CPC classification number: G05D1/0088 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  G01S17/931 ,  G05D1/0212 ,  G05D1/0238 ,  G06N3/08 ,  G01S7/4802 ,  G05D2201/0212

Abstract: An autonomous vehicle is described herein. The autonomous vehicle includes a lidar sensor system. The autonomous vehicle additionally includes a computing system that executes a lidar segmentation system, wherein the lidar segmentation system is configured to identify objects that are in proximity to the autonomous vehicle based upon output of the lidar sensor system. The computing system further includes a deep neural network (DNN), where the lidar segmentation system identifies the objects in proximity to the autonomous vehicle based upon output of the DNN.

公开(公告)号：US11345277B2

公开(公告)日：2022-05-31

申请号：US16161206

申请日：2018-10-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Eric Lujan ,  Shiva Ghose ,  Elliot Branson ,  Peter Ming Gao ,  Zhichang Yan ,  Zhizhong Yan

IPC: B60Q1/50 ,  B60Q1/26 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/18 ,  B60W50/00 ,  G05D1/00

Abstract: Various technologies described herein pertain to controlling an autonomous vehicle to provide indicators that signal a driving intent of the autonomous vehicle. The autonomous vehicle includes a plurality of sensor systems that generate a plurality of sensor signals, a notification system, and a computing system. The computing system determines that the autonomous vehicle is to execute a maneuver that will cause the autonomous vehicle to traverse a portion of a driving environment of the autonomous vehicle. The computing system predicts that a person in the driving environment is to traverse the portion of the driving environment based upon the plurality of sensor signals. The computing system then controls the notification system to output a first indicator indicating that the autonomous vehicle plans to yield to the person or a second indicator indicating that the autonomous vehicle plans to execute the maneuver prior to the person traversing the portion of the driving environment.

公开(公告)号：US20210223402A1

公开(公告)日：2021-07-22

申请号：US17226123

申请日：2021-04-09

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Andrea Allais ,  Adam Samuel Cadien ,  Elliot Branson ,  William Gongshu Xie ,  Micah Christopher Chambers

IPC: G01S17/931 ,  G06K9/62 ,  G05D1/00 ,  G06N3/02 ,  G06K9/00 ,  G05D1/02

Abstract: An autonomous vehicle is described herein. The autonomous vehicle includes a lidar sensor system. The autonomous vehicle additionally includes a computing system that executes a lidar segmentation system, wherein the lidar segmentation system is configured to identify objects that are in proximity to the autonomous vehicle based upon output of the lidar sensor system. The computing system further includes a deep neural network (DNN), where the lidar segmentation system identifies the objects in proximity to the autonomous vehicle based upon output of the DNN.

公开(公告)号：US10884411B1

公开(公告)日：2021-01-05

申请号：US16054049

申请日：2018-08-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Andrea Allais ,  Adam Samuel Cadien ,  Elliot Branson ,  William Gongshu Xie ,  Micah Christopher Chambers

IPC: G05D1/00 ,  G05D1/02 ,  B60W10/06 ,  B60W10/20 ,  G06N3/08 ,  B60W10/18 ,  G01S7/48 ,  G01S17/931

Abstract: An autonomous vehicle is described herein. The autonomous vehicle includes a lidar sensor system. The autonomous vehicle additionally includes a computing system that executes a lidar segmentation system, wherein the lidar segmentation system is configured to identify objects that are in proximity to the autonomous vehicle based upon output of the lidar sensor system. The computing system further includes a deep neural network (DNN), where the lidar segmentation system identifies the objects in proximity to the autonomous vehicle based upon output of the DNN. The computing system is further configured to align a heightmap to lidar data output by the lidar sensor system based upon output of the DNN. The lidar segmentation system can identify objects in proximity to the autonomous vehicle based upon the aligned heightmap.

公开(公告)号：US11022693B1

公开(公告)日：2021-06-01

申请号：US16054088

申请日：2018-08-03

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Andrea Allais ,  Adam Samuel Cadien ,  Elliot Branson ,  William Gongshu Xie ,  Micah Christopher Chambers

IPC: G01S17/931 ,  G05D1/00 ,  G05D1/02 ,  G06K9/62 ,  G06N3/02 ,  G06K9/00

Abstract: An autonomous vehicle is described herein. The autonomous vehicle includes a lidar sensor system. The autonomous vehicle additionally includes a computing system that executes a lidar segmentation system, wherein the lidar segmentation system is configured to identify objects that are in proximity to the autonomous vehicle based upon output of the lidar sensor system. The computing system further includes a deep neural network (DNN), where the lidar segmentation system identifies the objects in proximity to the autonomous vehicle based upon output of the DNN.

公开(公告)号：US10318822B2

公开(公告)日：2019-06-11

申请号：US15480437

申请日：2017-04-06

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Peter Gao ,  Gautier Minster ,  Elliot Branson ,  Stuart Glaser

IPC: G06K9/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  G05D1/02 ,  G06K9/52 ,  G08G1/16 ,  G06K9/32 ,  B60W50/14 ,  G01S19/13 ,  G05D1/00 ,  G06Q50/30 ,  G06T15/20 ,  G08G1/127 ,  G08G1/00

Abstract: Methods and systems are provided for tracking an object. The system includes a data receiving module receiving two dimensional imaging data including an object and height map data correlating ground height and location. A two dimensions to three dimensions transformation module determines a location of the object in three dimensional space based on the two dimensional imaging data and the height map data. A tracking module tracks the object using the location of the object.

公开(公告)号：US20190061771A1

公开(公告)日：2019-02-28

申请号：US16173112

申请日：2018-10-29

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Solomon Bier ,  Elliot Branson ,  Cody Neil ,  Samuel Abrahams ,  Nathan Mandi ,  Daniel Johnson ,  Haggai Nuchi

IPC: B60W50/00 ,  G05D1/00 ,  G05D1/02 ,  G06N3/08 ,  G06N5/04 ,  G06N3/04

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method of predicting sensor information of an autonomous vehicle includes: receiving point cloud data sensed from an environment associated with the vehicle; processing, by a processor, point cloud data with a convolutional neural network (CNN) to produce a set of segmentations stored in a set of memory cells; processing, by the processor, the set of segmentations of the CNN with a recurrent neural network (RNN) to predict future point cloud data; processing, by the processor, the future point cloud data to determine an action; and controlling the vehicle based on the action.

公开(公告)号：US20180293445A1

公开(公告)日：2018-10-11

申请号：US15480437

申请日：2017-04-06

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Peter Gao ,  Gautier Minster ,  Elliot Branson ,  Stuart Glaser

IPC: G06K9/00 ,  G06K9/52 ,  G05D1/02 ,  B60W30/09 ,  B60W10/20 ,  B60W10/18 ,  B60W10/04 ,  B60W10/10 ,  G08G1/16

CPC classification number: G06K9/00791 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2510/10 ,  B60W2510/18 ,  B60W2510/20 ,  B60W2550/10 ,  B60W2710/10 ,  B60W2710/18 ,  B60W2710/20 ,  G01S19/13 ,  G05D1/0027 ,  G05D1/0248 ,  G05D1/0297 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/52 ,  G06Q50/30 ,  G06T15/20 ,  G06T2207/30252 ,  G08G1/127 ,  G08G1/16 ,  G08G1/202

Abstract: Methods and systems are provided for tracking an object. The system includes a data receiving module receiving two dimensional imaging data including an object and height map data correlating ground height and location. A two dimensions to three dimensions transformation module determines a location of the object in three dimensional space based on the two dimensional imaging data and the height map data. A tracking module tracks the object using the location of the object.

公开(公告)号：US11380204B2

公开(公告)日：2022-07-05

申请号：US16914421

申请日：2020-06-28

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Elliot Branson ,  Eric Lujan ,  Benjamin Earle Weinstein-Raun

IPC: G08G1/16 ,  B25J9/00 ,  G06Q50/28 ,  B62D33/08 ,  H04N5/232 ,  G01S7/40 ,  G01S7/481 ,  G05D1/02 ,  G08G1/01 ,  G08G1/04 ,  G05D1/00 ,  G06V20/58

Abstract: An autonomous vehicle is described herein. The autonomous vehicle comprises a first sensor and a second sensor having limited fields of view, an articulation system, and a computing system. The computing system determines a first region and a second region external to the autonomous vehicle based on a sensor prioritization scheme comprising a ranking of regions surrounding the autonomous vehicle. The computing system then causes the articulation system to orient the first sensor towards the first region and the second region towards the second region. Responsive to receiving a sensor signal from the first sensor indicating that an object has entered a field of view of the first sensor, the computing system determines a third region having a higher ranking than the second region within the sensor prioritization scheme. The computing system then causes the articulation system to orient the second sensor towards the third region.

公开(公告)号：US20220019221A1

公开(公告)日：2022-01-20

申请号：US17491453

申请日：2021-09-30

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Andrea Allais ,  Micah Christopher Chambers ,  William Gongshu Xie ,  Adam Samuel Cadien ,  Elliot Branson

IPC: G05D1/00 ,  B60W10/18 ,  G05D1/02 ,  B60W10/20 ,  G06N3/08 ,  B60W10/06 ,  G01S17/931

Abstract: An autonomous vehicle is described herein. The autonomous vehicle includes a lidar sensor system. The autonomous vehicle additionally includes a computing system that executes a lidar segmentation system, wherein the lidar segmentation system is configured to identify objects that are in proximity to the autonomous vehicle based upon output of the lidar sensor system. The computing system further includes a deep neural network (DNN), where the lidar segmentation system identifies the objects in proximity to the autonomous vehicle based upon output of the DNN.