The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 03, 2023
Filed:
Nov. 21, 2019
GM Global Technology Operations Llc, Detroit, MI (US);
Technion—research & Development Foundation Ltd, Haifa, IL;
Avshalom Suissa, Kiryat Ono, IL;
Daniel Y. Rubin, Holon, IL;
GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US);
TECHNION—RESEARCH & DEVELOPMENT FOUNDATION LTD., Haifa, IL;
Abstract
Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle ψbetween a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance yfrom a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.