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公开(公告)号：US12128924B2
公开(公告)日：2024-10-29
申请号：US17933587
申请日：2022-09-20
Applicant: GM Global Technology Operations LLC
CPC classification number: B60W60/0011 , G05D1/0088 , G05D1/0212
Abstract: A method for efficient autonomous driving planning includes receiving a current driving-scene data and a predicted driving-scene data. The current driving-scene data is indicative of a current driving scene around a host vehicle. The predicted driving-scene data is indicative of a predicted driving scene around the host vehicle. The predicted driving scene around the host vehicle is different from the current driving scene around the host vehicle. The method further includes converting the current driving-scene data and the predicted driving-scene data into a first scene-graph and a second scene-graph, respectively. The method further includes determining a plurality of scene change metrics using the first scene-graph and the second scene-graph. The method further includes selecting between a first trajectory planning process and a second trajectory planning process based on the plurality of scene change metrics.
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公开(公告)号：US11815361B2
公开(公告)日：2023-11-14
申请号：US17720466
申请日：2022-04-14
Applicant: GM Global Technology Operations LLC
Inventor： Syed Bilal Mehdi , Sayyed Rouhollah Jafari Tafti , Michael Alan Losh
IPC: G01C21/00
CPC classification number: G01C21/3833 , G01C21/3815 , G01C21/3826
Abstract: A method for generating an occlusion map using crowdsourcing includes receiving occlusion data from a host vehicle. The occlusion data includes a plurality of virtual detection lines each extending from the sensor and intersecting an off-road area. The method further includes marking all non-occluded points that are located inside the off-road area and that are located within a predetermined distance from each plurality of virtual detection lines. The method further includes determining a non-occluded region inside the off-road area using the non-occluded points that have been previously marked inside the off-road area, wherein the non-occluded region is part of non-occlusion data. The method further includes generating an occlusion map using the non-occlusion data. The method further includes transmitting the occlusion map to the host vehicle. The method can also determine an occlusion caused by an elevation peak.
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公开(公告)号：US11807275B2
公开(公告)日：2023-11-07
申请号：US17397171
申请日：2021-08-09
Applicant: GM Global Technology Operations LLC
Inventor： Rasoul Salehi , Wen-Chiao Lin , Sayyed Rouhollah Jafari Tafti , Reza Zarringhalam
IPC: B60W60/00 , B60W30/095
CPC classification number: B60W60/0018 , B60W30/0953 , B60W30/0956 , B60W2554/4041 , B60W2554/4049
Abstract: A vehicle and a system method of operating the vehicle is disclosed. The system includes a monitoring module and a mitigation module operating on a processor. The monitoring module is configured to measure a degradation in an operation parameter of the vehicle, the vehicle operating in a first state based on a first value of a set of adaptive parameters. The mitigation module is configured to determine a threat to the vehicle due to operating the vehicle in the first state with the degradation in the operation parameter and adjust the set of adaptive parameters from the first value to a second value that mitigates the threat to the vehicle, wherein the processor operates the vehicle in a second state based on the second value.
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公开(公告)号：US20220214181A1
公开(公告)日：2022-07-07
申请号：US17141421
申请日：2021-01-05
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Sayyed Rouhollah Jafari Tafti , Anthony L. Perez , Roi Reshef
Abstract: Methods and apparatus are provided for behavior planning for an autonomous vehicle. In one embodiment, a method includes: receiving navigation data including a navigation route; converting the navigation route to road segment data including a plurality of road segments; assigning lane attributes to the plurality road segments of the road segment data; computing cost data for each of the road segments; evaluating the cost data of each of the road segments to determine at least one driving behavior; and generating a display signal for displaying the driving behavior to a user of the autonomous vehicle.
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公开(公告)号：US10725470B2
公开(公告)日：2020-07-28
申请号：US15621221
申请日：2017-06-13
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Seyedalireza Kasaiezadeh Mahabadi , Sayyed Rouhollah Jafari Tafti , Edward T. Heil , Nikolai K. Moshchuk , Bakhtiar B. Litkouhi
Abstract: A method is provided for autonomously operating a vehicle. The method includes receiving, at a processor, at least vehicle state data and vehicle object environment data; generating, with the processor, an optimal path for the vehicle with a cost function based on the vehicle state data and the vehicle object environment data; identifying, with the processor, at least one critical condition constraint based on at least one of the vehicle or vehicle environment; modifying, with the processor, at least a first portion of the optimal path based on the at least one critical condition constraint to result in a short-range trajectory portion; generating a resulting trajectory with the short-range trajectory portion; and implementing the resulting trajectory on the vehicle.
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Patent Agency Ranking
公开(公告)号：US10203698B1
公开(公告)日：2019-02-12
申请号：US15673855
申请日：2017-08-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Sayyed Rouhollah Jafari Tafti , Soheil Samii , Fan Bai , Michael A. Losh
Abstract: A system and method for providing a map via a cloud-based system is disclosed. The method includes requesting, by a controller of an autonomous vehicle, a map data from a cloud-based server. The map data is stored on the cloud-based server. The method also includes receiving map data from the cloud-based server. The method also includes autonomously navigating the autonomous vehicle based on the received map data.
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公开(公告)号：US12172669B2
公开(公告)日：2024-12-24
申请号：US17555973
申请日：2021-12-20
Applicant: GM Global Technology Operations LLC
Abstract: A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to: receive sensor data representing a perceived driving environment, select a reinforcement learning agent from a plurality of reinforcement learning agents based on a challenge score calculated using the sensor data and a desired driving style, and generate, via the selected reinforcement learning agent, a driving action based on the sensor data.
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公开(公告)号：US20240101107A1
公开(公告)日：2024-03-28
申请号：US17935637
申请日：2022-09-27
Applicant: GM Global Technology Operations LLC
IPC: B60W30/095 , B60W60/00
CPC classification number: B60W30/0956 , B60W60/0011 , B60W2400/00
Abstract: A method generating planning-based attention signals includes receiving driving-scene data. The driving-scene data is indicative of a driving scene around a host vehicle. The driving-scene data includes map data and localization data. The driving scene includes a plurality of actors. The method further includes converting the driving-scene data into a scene-graph. The method further includes inputting the scene-graph into a deep neural network (DNN). Further, the method includes determining an attention score for each of the plurality of actors using the DNN and the scene-graph. The attention score of each of the plurality of actors represents a priority given to each of the plurality of actors in the driving scene. The method further includes commanding the host vehicle to autonomously drive according to a trajectory determined by taking into account the attention score of each of the plurality of actors.
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公开(公告)号：US20230332919A1
公开(公告)日：2023-10-19
申请号：US17720466
申请日：2022-04-14
Applicant: GM Global Technology Operations LLC
Inventor： Syed Bilal Mehdi , Sayyed Rouhollah Jafari Tafti , Michael Alan Losh
IPC: G01C21/00
CPC classification number: G01C21/3833 , G01C21/3815 , G01C21/3826
Abstract: A method for generating an occlusion map using crowdsourcing includes receiving occlusion data from a host vehicle. The occlusion data includes a plurality of virtual detection lines each extending from the sensor and intersecting an off-road area. The method further includes marking all non-occluded points that are located inside the off-road area and that are located within a predetermined distance from each plurality of virtual detection lines. The method further includes determining a non-occluded region inside the off-road area using the non-occluded points that have been previously marked inside the off-road area, wherein the non-occluded region is part of non-occlusion data. The method further includes generating an occlusion map using the non-occlusion data. The method further includes transmitting the occlusion map to the host vehicle. The method can also determine an occlusion caused by an elevation peak.
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10.发明授权公开(公告)号：US11741719B2
公开(公告)日：2023-08-29
申请号：US16552686
申请日：2019-08-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Brent N. Bacchus , Pinaki Gupta , Sayyed Rouhollah Jafari Tafti
IPC: G06V20/58 , G05D1/00 , B60W50/00 , G06V10/764
CPC classification number: G06V20/58 , B60W50/0097 , G05D1/0088 , G06V10/764
Abstract: An autonomous vehicle, system and method of navigating the autonomous vehicle. The system includes one or more sensors for obtaining data with respect to a remote stationary vehicle, and a processor. The processor is configured to classify the remote stationary vehicle into an object hypothesis based on the data, determine an actionable behavior of the autonomous vehicle based on a probability for the object hypothesis, and navigate the autonomous vehicle with respect to the remote vehicle via the actionable behavior.
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