Gm Global Technolgoy Operations, Inc.

Zachary T Kroeze

Yun Qian Miao

Ralph D Schlottke

Ehsan Jafarzadeh

Shi M Yu

Patrick Andruszkiewicz

Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by the controller, return data generated by a lidar device of the vehicle; determining, by the controller, at least one overlapping channel of redundant return data; determining, by the controller, an optimization framework of equations based on modeled errors of the at least one overlapping channel; solving, by the controller, the optimization framework using a least squares method to determine an error value; determining, by the controller, a state of health of the lidar device based on the error value; compensating, by the controller, the return data from the lidar device based on the error value; and controlling, by the controller, the vehicle based on the compensated return data.

Methods and systems for lidar monitoring

A system for trailer coupler localization for guidance during a hitching maneuver for a vehicle includes a trailer device including a trailer coupler and a graphic providing structure affixed to the trailer coupler. The structure includes at least one predefined graphic image. The system further includes a rear facing camera device attached to the vehicle and providing a captured image of the predefined graphic image. The system further includes a computerized controller, including programming to receive and analyze the captured image of the predefined graphic image to determine a relative position of the graphic providing structure to the camera device. The controller further includes programming to utilize the analysis to determine a relative position of the trailer coupler to a trailer hitch ball of the vehicle and to provide an output to control the hitching maneuver based upon the relative position.

System and method for trailer coupler localization for guidance during a hitching maneuver

Methods and apparatus are provided for determining a hitch articulation angle including a camera for capturing a first image and a second image, a steering sensor configured to detect a steering angle, a velocity sensor configured to detect a vehicle velocity, a processor configured to for generating a bird's eye view of the first image and the second image through a perspective transform, generating a trailer hitch model from the first image in response to the steering angle and the vehicle velocity indicating a vehicle is traveling in a straight forward direction, generating a current hitch model from the second image, determining a hitch articulation angle in response to an angular difference between the trailer hitch model and the current hitch model, and a vehicle controller controlling the vehicle in response to the hitch articulation angle.

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Toronto, Canada

Zachary T Kroeze