Gm Global Technolgoy Operations, Inc.

University of Southern California

Hang Qiu

Fan Bai

Ramesh Govindan

Fawad Ahmad

Donald K Grimm

Marco Gruteser

A vehicle is described, and includes an on-board controller, an extra-vehicle communication system, a GPS sensor, a spatial monitoring system, and a navigation system that employs an on-vehicle navigation map. Operation includes capturing a 3D sensor representation of a field of view and an associated GPS location, executing a feature extraction routine, executing a semantic segmentation of the extracted features, executing a simultaneous location and mapping (SLAM) of the extracted features, executing a context extraction from the simultaneous location and mapping of the extracted features, and updating the on-vehicle navigation map based thereon. A parsimonious map representation is generated based upon the updated on-vehicle navigation map, and is communicated to a second, off-board controller. The second controller executes a sparse map stitching to update a base navigation map based upon the parsimonious map representation. The on-vehicle navigation map is updated based upon the off-board navigation map.

Method and apparatus for a context-aware crowd-sourced sparse high definition map

Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving sensor data from a sensor of the vehicle; determining a three dimensional point cloud map segment from the sensor data; determining a vehicle pose associated with the three-dimensional point cloud map segment; determining a pose difference based on the vehicle pose, another vehicle pose, and a two-step process, wherein the two-step process includes computing a coarse-granularity pose difference, and computing a fine-granularity pose difference; aligning the three dimensional point cloud map segment with another three dimensional point cloud map segment associated with the other vehicle pose based on the pose difference; and controlling the vehicle based on the aligned three dimensional point cloud map segments.

Crowd-sensed point cloud map

A system and method is taught for vehicles controlled by automated driving systems, particularly those configured to automatically control vehicle steering, acceleration, and braking during a drive cycle without human intervention. In particular, the present disclosure teaches a system and method for generation situational awareness and path planning data and transmitting this information via vehicle to vehicle communications where one vehicle has an obstructed view to objects not within an obstructed view of a second vehicle.

Growing community of inventors

Los Angeles, CA, United States of America

Hang Qiu