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公开(公告)号：US10315649B2
公开(公告)日：2019-06-11
申请号：US15363763
申请日：2016-11-29
发明人： Sneha Kadetotad , Jinesh J. Jain , Vidya Nariyambut Murali , Dongran Liu , Marcos Paul Gerardo Castro , Adil Nizam Siddiqui
摘要： A controller receives outputs from a plurality of sensors such as a camera, LIDAR sensor, RADAR sensor, and ultrasound sensor, which may be rearward facing. A probability is updated each time a feature in a sensor output indicates presence of an object. The probability may be updated as a function of a variance of the sensor providing the output and a distance to the feature. Where the variance of a sensor is directional, directional probabilities may be updated according to these variances and the distance to the feature. If the probability meets a threshold condition, actions may be taken such as a perceptible alert or automatic braking. The probability may be decayed in the absence of detection of objects. Increasing or decreasing trends in the probability may be amplified by further increasing or decreasing the probability.
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公开(公告)号：US20180148047A1
公开(公告)日：2018-05-31
申请号：US15363763
申请日：2016-11-29
发明人： Sneha Kadetotad , Jinesh J. Jain , Vidya Nariyambut Murali , Dongran Liu , Marcos Paul Gerardo Castro , Adil Nizam Siddiqui
CPC分类号： B60W30/09 , B60W10/04 , B60W10/18 , B60W10/20 , B60W30/08 , B60W30/0956 , B60W40/04 , B60W2420/42 , B60W2420/52 , B60W2420/54 , B60W2550/10
摘要： A controller receives outputs from a plurality of sensors such as a camera, LIDAR sensor, RADAR sensor, and ultrasound sensor, which may be rearward facing. A probability is updated each time a feature in a sensor output indicates presence of an object. The probability may be updated as a function of a variance of the sensor providing the output and a distance to the feature. Where the variance of a sensor is directional, directional probabilities may be updated according to these variances and the distance to the feature. If the probability meets a threshold condition, actions may be taken such as a perceptible alert or automatic braking. The probability may be decayed in the absence of detection of objects. Increasing or decreasing trends in the probability may be amplified by further increasing or decreasing the probability.
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公开(公告)号：US10195992B2
公开(公告)日：2019-02-05
申请号：US15478118
申请日：2017-04-03
摘要： Example obstacle detection systems and methods are described. In one implementation, a method receives data from at least one sensor mounted to a vehicle and creates a probabilistic grid-based map associated with an area near the vehicle. The method also determines a confidence associated with each probability in the grid-based map and determines a likelihood that an obstacle exists in the area near the vehicle based on the probabilistic grid-based map.
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公开(公告)号：US20180137374A1
公开(公告)日：2018-05-17
申请号：US15353640
申请日：2016-11-16
CPC分类号： G06K9/00805 , G05D1/0246 , G06K9/46 , G06T7/73 , G06T7/97 , G06T2207/30252
摘要： A system for detecting and identifying foliage includes a tracking component, a tracking parameters component, and a classification component. The tracking component is configured to detect and track one or more features within range data from one or more sensors. The tracking parameters component is configured to determine tracking parameters for each of the one or more features. The tracking parameters include a tracking age and one or more of a detection consistency and a position variability. The classification component is configured to classify a feature of the one or more features as corresponding to foliage based on the tracking parameters.
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公开(公告)号：US10521680B2
公开(公告)日：2019-12-31
申请号：US16184680
申请日：2018-11-08
摘要： A system for detecting and identifying foliage includes a tracking component, a tracking parameters component, and a classification component. The tracking component is configured to detect and track one or more features within range data from one or more sensors. The tracking parameters component is configured to determine tracking parameters for each of the one or more features. The tracking parameters include a tracking age and one or more of a detection consistency and a position variability. The classification component is configured to classify a feature of the one or more features as corresponding to foliage based on the tracking parameters.
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公开(公告)号：US10163015B2
公开(公告)日：2018-12-25
申请号：US15353640
申请日：2016-11-16
摘要： A system for detecting and identifying foliage includes a tracking component, a tracking parameters component, and a classification component. The tracking component is configured to detect and track one or more features within range data from one or more sensors. The tracking parameters component is configured to determine tracking parameters for each of the one or more features. The tracking parameters include a tracking age and one or more of a detection consistency and a position variability. The classification component is configured to classify a feature of the one or more features as corresponding to foliage based on the tracking parameters.
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公开(公告)号：US10160448B2
公开(公告)日：2018-12-25
申请号：US15346210
申请日：2016-11-08
摘要： A controller receives outputs form a plurality of sensors such as a camera, LIDAR sensor, RADAR sensor, and ultrasound sensor. Sensor outputs corresponding to an object are assigned to a tracklet. Subsequent outputs by any of the sensors corresponding to that object are also assigned to the tracklet. A trajectory of the object is calculated from the sensor outputs assigned to the tracklet, such as by means of Kalman filtering. For each sensor output assigned to the tracklet, a probability is updated, such as using a Bayesian probability update. When the probability meets a threshold condition, the object is determined to be present and an alert is generated or autonomous obstacle avoidance is performed with respect to an expected location of the object.
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公开(公告)号：US20180300620A1
公开(公告)日：2018-10-18
申请号：US15486099
申请日：2017-04-12
IPC分类号： G06N3/08 , G01S17/93 , G01S13/94 , G01S15/93 , G01S13/93 , G05D1/00 , H04N7/18 , G06T7/11 , G06K9/62
摘要： Example foliage detection training systems and methods are described. In one implementation, a method receives data associated with a plurality of vehicle-mounted sensors and defines multiple regions of interest (ROIs) based on the received data. The method applies a label to each ROI, where the label classifies a type of foliage associated with the ROI. A foliage detection training system trains a machine learning algorithm based on the ROIs and associated labels.
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公开(公告)号：US10802478B2
公开(公告)日：2020-10-13
申请号：US15787809
申请日：2017-10-19
发明人： Luke Niewiadomski , Roger Arnold Trombley , Dongran Liu , Yi Zhang , Douglas Rogan , Chen Zhang , Shannon Brooks-Lehnert , Vidya Nariyambut murali
摘要： A hitch assist system and method are provided herein. A human machine interface is configured to receive user-input specifying a target travel direction of a vehicle. A controller is configured to generate commands for autonomously maneuvering the vehicle in the target travel direction, identify a hitch coupler of a trailer based on input received from an object detection system, and request additional user-input updating the target travel direction if the hitch coupler is unable to be identified.
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公开(公告)号：US10430672B2
公开(公告)日：2019-10-01
申请号：US15902051
申请日：2018-02-22
发明人： Yi Zhang , Dongran Liu , Vidya Nariyambut murali
摘要： A system and methods related to hitch assist are provided herein. An imager captures rear-vehicle images. A processor is configured to extract trailer and ground features from the captured images, compute vehicle motion displacement based on optical flow of the ground features, estimate a height of each trailer feature based on vehicle motion displacement and optical flow of the trailer features, and determine a trailer height based on the estimated heights of at least a portion of the trailer features.
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