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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.:

US 12325414 B1

PDFFull Text
Date of Patent:
Jun. 10, 2025

Filed:

Jun. 02, 2023

Methods and systems for tracking of attached objects

Applicant:

GM Global Technology Operations Llc, Detroit, MI (US);

Inventors:

Siva Chinthalapudi, Novi, MI (US);

Dmitriy Feldman, West Bloomfield, MI (US);

Amanpal S Grewal, Novi, MI (US);

Ibrahim Riba, Canton, MI (US);

Assignee:

GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US);

Attorney:

Lorenz & Kopf LLP

Primary Examiner:

Hai H Huynh

Assistant Examiner:

Johnny H Hoang

Int. Cl.
CPC ...
B60W 30/09 (2012.01); B60T 7/12 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G06T 7/20 (2017.01); G06T 7/50 (2017.01); G06T 7/60 (2017.01); G06T 7/70 (2017.01); G06V 10/80 (2022.01);
U.S. Cl.
CPC ...
B60W 30/09 (2013.01); B60T 7/12 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G06T 7/20 (2013.01); G06T 7/50 (2017.01); G06T 7/60 (2013.01); G06T 7/70 (2017.01); B60T 2210/32 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/402 (2020.02); B60W 2554/4049 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2710/18 (2013.01); G01S 2013/9323 (2020.01); G06T 2207/30252 (2013.01); G06V 10/803 (2022.01);
Abstract

A method and system for tracking attached objects for controlling a vehicle. The method includes receiving, by a processor, sensor data of an environment associated with the vehicle that includes an object. The method includes determining, based on the sensor data, whether the object corresponds to an attached object type, and determining whether the sensor data includes a second vehicle. The method includes determining an attached object region associated with the second vehicle based on a distance between the second vehicle and the vehicle, and determining whether a position of the object is within the attached object region. The method includes determining whether a difference between a velocity of the object and a vehicle velocity of the vehicle is within a velocity threshold based on the distance. The method includes determining that the object is an attached object and controlling the vehicle based on the determining.

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