公开(公告)号：US12230021B2

公开(公告)日：2025-02-18

申请号：US17714865

申请日：2022-04-06

Applicant: GM Cruise Holdings LLC

Inventor： Craig Quiter ,  Siddhartho Bhattacharya ,  Mayank Ketkar ,  Raluca Musaloiu-Elefteri ,  Wanlin Yang ,  Sandeep Gangundi

IPC: G06V10/82 ,  G06N3/08 ,  G06V10/774

Abstract: The disclosed technology provides methods for training of a convolutional neural network (CNN) to identify or predict its own errors, and then those errors are used as inputs with feature visualization to generate images of scenes associated with those errors. This allows adjustment of a set of labeled training images, and then the adjusted set of labeled training images are used to retrain or further train the CNN. Systems and machine-readable media are also provided.

公开(公告)号：US20230204738A1

公开(公告)日：2023-06-29

申请号：US17562262

申请日：2021-12-27

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Pulkit Budhiraja ,  Zhaoyin Jia

IPC: G01S7/497 ,  G01S17/89 ,  G01S17/931

CPC classification number: G01S7/497 ,  G01S17/89 ,  G01S17/931

Abstract: Autonomous Vehicles (AVs) can navigate roadways without a human driver by using sensors, such as Lidar sensors, positioned around the AV. Systems, apparatuses, methods, computer readable medium, and circuits are provided for emulating a Lidar point cloud of an evaluation Lidar to be evaluated by transforming historical data received from a reference Lidar in order to determine a performance difference between the evaluation Lidar and the reference Lidar.

公开(公告)号：US20250067850A1

公开(公告)日：2025-02-27

申请号：US18455169

申请日：2023-08-24

Applicant: GM Cruise Holdings LLC

Inventor： Sathya Narayanan Kasturi Rangan ,  Pulkit Budhiraja ,  Evan McNeil ,  Sandeep Gangundi

IPC: G01S7/481 ,  G01S17/86

Abstract: Systems and techniques are provided for synchronizing sensor operations. An example method includes determining a frequency of each scan cycle of a sensor configured to scan different regions of space; based on the frequency, a field-of-view (FOV) of the sensor, and a FOV of an additional sensor, determining an amount of time between a state of a first scan cycle of the sensor in which a point within the FOV of the sensor is aligned with a point within the FOV of the additional sensor and a state of a second scan cycle in which the point within the FOV of the sensor is aligned with the point within the FOV of the additional sensor; determining a time offset based on the amount of time; and sending, to the additional sensor, a signal configured to trigger the additional sensor to capture data at/after time intervals defined by the time offset.

公开(公告)号：US11904870B2

公开(公告)日：2024-02-20

申请号：US17562317

申请日：2021-12-27

Applicant: GM Cruise Holdings LLC

Inventor： Zachary Witte ,  Sandeep Gangundi ,  Abdelrahman Elogeel

IPC: B60W50/00 ,  G06F8/65 ,  G05B13/02

CPC classification number: B60W50/00 ,  G05B13/0265 ,  G06F8/65 ,  B60W2050/0083

Abstract: The subject disclosure relates to techniques for managing the configuration of vehicles. A process of the disclosed technology can include steps of receiving a first vehicle identifier for a first vehicle, wherein the first vehicle is associated with a first vehicle platform, identifying a first configuration for the first vehicle platform based on the first vehicle identifier, receiving a second vehicle identifier for a second vehicle, wherein the second vehicle is associated with a second vehicle platform, and wherein the first vehicle platform is different from the second vehicle platform, and identifying a second configuration for the second vehicle platform based on the second vehicle identifier, wherein the first vehicle and the second vehicle run on an identical software stack. Systems and machine-readable media are also provided.

公开(公告)号：US20230326194A1

公开(公告)日：2023-10-12

申请号：US17714865

申请日：2022-04-06

Applicant: GM Cruise Holdings LLC

Inventor： Craig Quiter ,  Siddhartho Bhattacharya ,  Mayank Ketkar ,  Raluca Musaloiu-Elefteri ,  Wanlin Yang ,  Sandeep Gangundi

IPC: G06V10/82 ,  G06V10/774 ,  G06N3/08

CPC classification number: G06V10/82 ,  G06N3/08 ,  G06V10/7747

Abstract: The disclosed technology provides methods for training of a convolutional neural network (CNN) to identify or predict its own errors, and then those errors are used as inputs with feature visualization to generate images of scenes associated with those errors. This allows adjustment of a set of labeled training images, and then the adjusted set of labeled training images are used to retrain or further train the CNN. Systems and machine-readable media are also provided.

公开(公告)号：US20210358145A1

公开(公告)日：2021-11-18

申请号：US17389907

申请日：2021-07-30

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Sarthak Sahu ,  Nathan Harada ,  Phil Ferriere

IPC: G06T7/50 ,  G06K9/00 ,  G06T15/08

Abstract: Distance measurements are received from one or more distance measurement sensors, which may be coupled to a vehicle. A three-dimensional (3D) point cloud are generated based on the distance measurements. In some cases, 3D point clouds corresponding to distance measurements from different distance measurement sensors may be combined into one 3D point cloud. A voxelized model is generated based on the 3D point cloud. An object may be detected within the voxelized model, and in some cases may be classified by object type. If the distance measurement sensors are coupled to a vehicle, the vehicle may avoid the detected object.

公开(公告)号：US20230333226A1

公开(公告)日：2023-10-19

申请号：US18342522

申请日：2023-06-27

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Avinash Nair ,  Abdelrahman Elogeel ,  Kyle Vogt ,  Cornelis Jacob Lekkerkerker

IPC: G06F30/15 ,  G01S7/487 ,  G01S7/493 ,  G01S17/931 ,  G01S7/48

CPC classification number: G01S7/4876 ,  G01S7/4802 ,  G01S7/493 ,  G01S17/931 ,  G06F30/15

Abstract: The subject disclosure relates to ways to identify self-hit data collected by autonomous vehicle (AV) sensors. In some aspects, a method of the disclosed technology includes steps for generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space, collecting sensor data for an environment around the AV, and identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV. Systems and machine-readable media are also provided.

公开(公告)号：US20230256988A1

公开(公告)日：2023-08-17

申请号：US17674168

申请日：2022-02-17

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi

IPC: B60W60/00 ,  G01C21/34 ,  G06F8/71

CPC classification number: B60W60/001 ,  G01C21/3438 ,  G06F8/71 ,  B60W2420/52 ,  B60W2554/4048

Abstract: Methods and systems are provided for dynamically adjusting at least one setting of a lidar. In some aspects, a process can include steps for receiving, at an autonomous vehicle system, road condition data associated with an autonomous vehicle, generating, by the autonomous vehicle system, instructions to adjust the at least one setting of the lidar of the autonomous vehicle based on the road condition data, and providing, by the autonomous vehicle system, the instructions to adjust the at least one setting of the lidar to the lidar, the instructions including updating firmware of the lidar to adjust the at least one setting of the lidar.

公开(公告)号：US20210333373A1

公开(公告)日：2021-10-28

申请号：US16855478

申请日：2020-04-22

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Avinash Nair ,  Abdelrahman Elogeel ,  Kyle Vogt ,  Cornelis Jacob Lekkerkerker

IPC: G01S7/487 ,  G01S7/493 ,  G01S7/48 ,  G01S17/931 ,  G06F30/15

Abstract: The subject disclosure relates to ways to identify self-hit data collected by autonomous vehicle (AV) sensors. In some aspects, a method of the disclosed technology includes steps for generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space, collecting sensor data for an environment around the AV, and identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV. Systems and machine-readable media are also provided.

公开(公告)号：US11107227B1

公开(公告)日：2021-08-31

申请号：US16795129

申请日：2020-02-19

Applicant: GM Cruise Holdings LLC

Inventor： Sandeep Gangundi ,  Sarthak Sahu ,  Nathan Harada ,  Phil Ferriere

IPC: G06T7/50 ,  G06T15/08 ,  G06K9/00 ,  G01S15/89 ,  G01S13/89 ,  G01S17/89

Abstract: Distance measurements are received from one or more distance measurement sensors, which may be coupled to a vehicle. A three-dimensional (3D) point cloud are generated based on the distance measurements. In some cases, 3D point clouds corresponding to distance measurements from different distance measurement sensors may be combined into one 3D point cloud. A voxelized model is generated based on the 3D point cloud. An object may be detected within the voxelized model, and in some cases may be classified by object type. If the distance measurement sensors are coupled to a vehicle, the vehicle may avoid the detected object.