Abstract: Apparatus, method and system for hybrid multi-mode data fusion to fuse data of multiple different formats by a centralized data fusion processing and send the fused data by a distributed data processing to a set of heterogeneous sensor devices. The hybrid multi-mode data fusion apparatus comprises a multi-mode fusion module configured to operate in a first mode to receive fused data of multiple different formats sensed from a set of heterogeneous devices and configured to operate in a second mode to send the fused data to each of the heterogeneous devices. An association module to fuse data of multiple different formats sensed from each of the heterogeneous devices and to send the fused data to the multi-mode fusion module. A fusion track data file to store prior fused data to enable the multi-mode fusion module to send cueing information based upon the stored prior fused data to the heterogeneous devices.

Abstract: A method and apparatus for trailer recognition are provided. The method includes detecting a face of a trailer in a first and second image, taken at first and second distances respectively, generating a bounding box around the face of the trailer in the first and second images, determining a first and second set of feature points in the bounding boxes of the first and second images, determining a correspondence between the first set of feature points and the second set of feature points and a correspondence between corners of the bounding boxes and estimating at least one dimension of the trailer by performing a least squares analysis to solve for three-dimensional real world coordinates of the first and second set of features points and the corners of the bounding boxes. The method may assist an operator of a vehicle in aligning the vehicle hitch with a trailer coupler.

Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes receiving vehicle and object environment data. A search graph is generated based upon the received data. The search graph contains a grid of points for locating objects and is used to determine a desired trajectory for the vehicle.

Abstract: A six-dimensional point cloud system for a vehicle is provide which may, for example calculate, for each point in a point cloud, a three-dimensional velocity of the respective point in the point cloud, segment each point in the point cloud into one or more clusters of points, compute a kinematic state of each of the one or more clusters of points, determine an object type associated with each of the one or more cluster, and determine a threat level and a response command based upon the determined object type and the kinematic state of each of the one or more clusters of points.

Abstract: A six-dimensional point cloud system for a vehicle is provide which may, for example calculate, for each point in a point cloud, a three-dimensional velocity of the respective point in the point cloud, segment each point in the point cloud into one or more clusters of points, compute a kinematic state of each of the one or more clusters of points, determine an object type associated with each of the one or more cluster, and determine a threat level and a response command based upon the determined object type and the kinematic state of each of the one or more clusters of points.

Abstract: Methods and systems are provided for determining a vehicle position. In one embodiment, a method includes: receiving, by a processor of a rover vehicle, vehicle position data from one or more parked vehicles; receiving, by the processor of the rover vehicle, global positioning system data from a GPS receiver of the rover vehicle; and processing, by the processor of the rover vehicle, the vehicle position data and the global position system data to determine a position of the rover vehicle.

Abstract: A method of determining velocity of a target and a fusion system on a moving platform to determine the velocity of the target are described. The method includes obtaining, using a radar system, position and radial velocity of the target relative to the moving platform, obtaining, using a vision system, optical flow vectors based on motion of the target relative to the moving platform, and estimating a dominant motion vector of the target based on the optical flow vectors. The method also includes processing the position, the radial velocity, and the dominant motion vector and determining the velocity of the target in two dimensions.

Abstract: A method and sensor system are disclosed for automatically determining object sensor position and alignment on a host vehicle. A radar sensor detects objects surrounding the host vehicle in normal operation. Static objects are identified as those objects with ground speed approximately equal to zero. Vehicle dynamics sensors provide vehicle longitudinal and lateral velocity and yaw rate data. Measurement data for the static objects—including azimuth angle, range and range rate relative to the sensor—along with the vehicle dynamics data, are used in a recursive geometric calculation which converges on actual values of the radar sensor's two-dimensional position and azimuth alignment angle on the host vehicle.

Abstract: A system and method of controlling operation of a host device in real-time, the host device operatively connected to an optical device and a radar device. The optical device is configured to obtain visual data of at least one object. The object is located at an incline, relative to the host device, the incline being characterized by an elevation angle (?) and an azimuth angle (?). The radar device is configured to obtain radar data, including a radial distance (r) of the object from the host device, the azimuth angle (?), and a range rate (dr/dt). The controller is programmed to determine a time-to-contact for the host device and the object based at least partially on a 3-D position and 3-D velocity vector. The operation of the host device is controlled based at least partially on the time-to-contact.

Abstract: A method and apparatus for controlling movement of a liftgate are provided. The method includes: capturing an image of a pattern on a surface; determining a distance between the liftgate and the surface based on the image of the pattern; and controlling a movement of the liftgate based on the determined distance.

Abstract: Methods and systems for determining a misalignment angle for a sensor in a vehicle are provided. The method, for example, may include, but is not limited to determining, by a processor, when an object detected in sensor data acquired by the sensor is a stationary object, and calculating, by the processor, the misalignment angle of the sensor based upon sensor data associated with the stationary object.

Abstract: A system and method for providing target selection and threat assessment for vehicle collision avoidance purposes that employ probability analysis of radar scan returns. The system determines a travel path of a host vehicle and provides a radar signal transmitted from a sensor on the host vehicle. The system receives multiple scan return points from detected objects, processes the scan return points to generate a distribution signal defining a contour of each detected object, and processes the scan return points to provide a position, a translation velocity and an angular velocity of each detected object. The system selects the objects that may enter the travel path of the host vehicle, and makes a threat assessment of those objects by comparing a number of scan return points that indicate that the object may enter the travel path to the number of the scan points that are received for that object.

Abstract: A method for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.

Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes receiving vehicle and object environment data. A search graph is generated based upon the received data. The search graph contains a grid of points for locating objects and is used to determine a desired trajectory for the vehicle.

Abstract: A method for vehicle-to-vehicle communication is disclosed. The method includes establishing a communication connection between the first vehicle and the second vehicle, receiving one or more communications from the second vehicle, determining, by the first vehicle, vehicle parameter targets based on the one or more communications, communicating the vehicle parameter targets and one or more vehicle device commands to the second vehicle, and determining at least one vehicle control signal for the second vehicle based on the vehicle parameter targets and the one or more vehicle device commands.

Abstract: A method of determining a surface condition of a path of travel. A plurality of images is captured of a surface of the path of travel by an image capture device. The image capture device captures images at varying scales. A feature extraction technique is applied by a feature extraction module to each of the scaled images. A fusion technique is applied, by the processor, to the extracted features for identifying the surface condition of the path of travel. A road surface condition signal provide to a control device. The control device applies the road surface condition signal to mitigate the wet road surface condition.

Abstract: A method of diagnosing a state of health of a vision-based lane sensing system. A first misalignment factor is calculated as a function of a vehicle lateral offset and a vehicle heading. A second misalignment factor is calculated as a function of a vehicle speed, an estimated curvature of an expected path of travel, a lane curvature, and the vehicle heading. Histograms are generated for the first and second misalignment factors. A probability of a state of health is determined. A determination is made whether the probability of the state of health is within a predetermined threshold. An angle misalignment of the vision system is estimated. The angle misalignment of the vision system is corrected in response to the determination that the probability of the state of health is within the predetermined threshold; otherwise a warning of a faulty lane sensing system is actuated.

Abstract: A system and method to determine trailer pose includes imaging first and second telltales affixed to a trailer to provide trailer image data. A controller is operable to determine trailer pose from the trailer image data. The trailer pose information may be provided to one or more controllers of a vehicle towing the trailer.

Abstract: Methods and systems for estimating motion of a vehicle are provided. Radar data pertaining to one or more stationary objects in proximity to the vehicle are obtained via one or more radar units of the vehicle. The motion of the vehicle is estimating using the radar data via a processor of the vehicle.

Abstract: A method of adaptively re-generating a planned path for an autonomous driving maneuver. An object map is generated based on the sensed objects in a road of travel. A timer re-set and actuated. A planned path is generated for autonomously maneuvering the vehicle around the sensed objects. The vehicle is autonomously maneuvered along the planned path. The object map is updated based on sensed data from the vehicle-based devices. A safety check is performed for determining whether the planned path is feasible based on the updated object map. The planned path is re-generated in response to a determination that the existing path is infeasible, otherwise a determination is made as to whether the timer has expired. If the timer has not expired, then a safety check is re-performed; otherwise, a return is made to re-plan the path.