US 11,873,003 B2
Multimodal multi-technique signal fusion system for autonomous vehicle
Clement Creusot, San Francisco, CA (US); Sarthak Sahu, Palo Alto, CA (US); and Matthias Wisniowski, San Francisco, CA (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Oct. 31, 2020, as Appl. No. 17/086,364.
Application 17/086,364 is a continuation of application No. 16/124,239, filed on Sep. 7, 2018, granted, now 10,852,743.
Prior Publication US 2021/0048830 A1, Feb. 18, 2021
Int. Cl. B60W 60/00 (2020.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06V 20/58 (2022.01); G06F 18/25 (2023.01); G06V 10/80 (2022.01); G06V 20/56 (2022.01); G06T 7/50 (2017.01); G06T 7/90 (2017.01); H04N 23/90 (2023.01)
CPC B60W 60/001 (2020.02) [G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); G06F 18/251 (2023.01); G06V 10/809 (2022.01); G06V 20/56 (2022.01); G06V 20/584 (2022.01); G05D 2201/0213 (2013.01); G06T 7/50 (2017.01); G06T 7/90 (2017.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01); H04N 23/90 (2023.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle, comprising:
a mechanical system;
a sensor system configured to generate a sensor signal;
a differing sensor system configured to generate a differing sensor signal;
a computing system in communication with the mechanical system and the sensor system, wherein the computing system comprises:
a processor; and
memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
generating a first indication of an illuminated state of a traffic light captured in at least the sensor signal and the differing sensor signal, the first indication of the illuminated state of the traffic light being generated based on a detected type of an illuminated bulb in the traffic light, the first indication of the illuminated state of the traffic light being generated based on the sensor signal;
generating a second indication of the illuminated state of the traffic light captured in at least the sensor signal and the differing sensor signal, the second indication of the illuminated state of the traffic light being generated based on a detected location of the illuminated bulb within the traffic light, the second indication of the illuminated state of the traffic light being generated based on the differing sensor signal;
combining the first indication of the illuminated state of the traffic light and the second indication of the illuminated state of the traffic light to output a merged indication of the illuminated state of the traffic light; and
controlling the mechanical system based on the merged indication of the illuminated state of the traffic light.