Patents Examined by Marthe Y. Marc-Coleman
  • Patent number: 11364994
    Abstract: A method of controlling a path of a rotorcraft. The method comprises a step of generating a first path setpoint and a step of automatically generating a first autopilot command from the first path setpoint. The method comprises a step of generating a first pilot setpoint during which a movement of a control member is transformed into a first pilot setpoint, the first pilot setpoint and the first flight parameter being homogenous in that they are expressed in the same measurement unit. The method includes a step of generating a first human pilot command from the first pilot setpoint followed by a step of generating a path command by combining the first autopilot command and the human pilot command.
    Type: Grant
    Filed: September 22, 2020
    Date of Patent: June 21, 2022
    Assignee: AIRBUS HELICOPTERS
    Inventors: Frederic Blanc, Serge Mezan
  • Patent number: 11364887
    Abstract: An autonomous deceleration control apparatus includes a brake module that receives an input signal; and a brake control module that controls an operational state of the brake module. The brake module includes a pedal link having a preset length and provided to be rotatable within a preset range; and a pedal encoder located adjacent to the one end of the pedal link and configured to detect a rotational state of the pedal link. The brake control module includes: a driver; a movable link rotatable about a movable link shaft located at one end thereof by the driver and provided to press the pedal link downwards according to a rotational state thereof; and a driver encoder connected to the movable link and configured to provide an operational state of the driver and movable link state information on the location of the movable link according to the operational state of the driver.
    Type: Grant
    Filed: November 27, 2019
    Date of Patent: June 21, 2022
    Assignee: KAR Co., Ltd
    Inventors: Sungjae Choi, Changook Jang, Hansol Choi
  • Patent number: 11364935
    Abstract: A method, a non-transitory computer-readable medium, and a system of providing an autonomous driving (AD) generally valid robust Sense-Act-function input-output Sense-Act-interdependency relations knowledge-based map that is used as look-up table instructions to implement general Sense-Act-control capabilities of an AD system in an AD vehicle for general robust solution decision making with global situational awareness, closed-loop control, noise and system degradation-tolerance, and fail-safe management and without large and complex code that is difficult, bug-sensitive, and both time and resource consuming to both develop and execute.
    Type: Grant
    Filed: July 13, 2020
    Date of Patent: June 21, 2022
    Assignee: Volvo Car Corporation
    Inventor: Ahmed El-Bahrawy
  • Patent number: 11364902
    Abstract: A method and apparatus for controlling a first vehicle autonomously are disclosed. For instance, one or more processors may plan to maneuver the first vehicle to complete an action and predict that a second vehicle will take a particular responsive action. The first vehicle is then maneuvered towards completing the action in a way that would allow the first vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously according to whether the second vehicle begins to take the particular responsive action.
    Type: Grant
    Filed: July 24, 2020
    Date of Patent: June 21, 2022
    Assignee: Waymo LLC
    Inventors: Nathaniel Fairfield, Vadim Furman
  • Patent number: 11360477
    Abstract: Techniques for determining a trajectory for an autonomous vehicle are described herein. In general, determining a route can include utilizing a search algorithm such as Monte Carlo Tree Search (MCTS) to search for possible trajectories, while using temporal logic formulas, such as Linear Temporal Logic (LTL), to validate or reject the possible trajectories. Trajectories can be selected based on various costs and constraints optimized for performance. Determining a trajectory can include determining a current state of the autonomous vehicle, which can include determining static and dynamic symbols in an environment. A context of an environment can be populated with the symbols, features, predicates, and LTL formula. Rabin automata can be based on the LTL formula, and the automata can be used to evaluate various candidate trajectories. Nodes of the MCTS can be generated and actions can be explored based on machine learning implemented as, for example, a deep neural network.
    Type: Grant
    Filed: June 22, 2020
    Date of Patent: June 14, 2022
    Assignee: Zoox, Inc.
    Inventors: Marin Kobilarov, Timothy Caldwell, Vasumathi Raman, Christopher Paxton, Joona Markus Petteri Kiiski, Jacob Lee Askeland, Robert Edward Somers
  • Patent number: 11358590
    Abstract: Provided are a switching method of an automatic driving mode, an apparatus, and a readable storage medium. The method includes determining an identity of a user riding an automatic driving device; determining, according to the identity of the user, a target automatic driving mode matched with the identity of the user from multiple pre-stored automatic driving modes; and controlling, according to the target automatic driving mode, the automatic driving device to perform a current automatic driving task. The method can adopt different automatic driving modes to perform a current automatic driving task according to differences of identities of users and provide the users with experiences riding an automatic driving device that are more suited to their requirements.
    Type: Grant
    Filed: July 17, 2019
    Date of Patent: June 14, 2022
    Assignee: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.
    Inventor: Youhan Chen
  • Patent number: 11352010
    Abstract: In one embodiment, an autonomous driving system of an autonomous driving vehicle perceives a driving environment surrounding the autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment. The system detects a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle. The system further calibrates the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle. The system then controls the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: June 7, 2022
    Assignee: BAIDU USA LLC
    Inventors: Shu Jiang, Qi Luo, Jinghao Miao, Jiangtao Hu, Jiaxuan Xu, Jingao Wang, Yu Wang, Jinyun Zhou, Runxin He
  • Patent number: 11351969
    Abstract: A tractor vehicle operation control device includes a yaw rate sensor, which detects the actual yaw rate, and a controller, which executes damping control for increasing braking power on the vehicle wheels based on the actual yaw rate and damping periodic yaw motion of the tractor vehicle originating in a trailer. The controller, based on the actual yaw rate, calculates a yaw indicator representing the degree of yaw motion, and sets the front wheels braking power to be greater and sets the rear wheels braking power to be less as the yaw indicator increases. For example, the controller calculates a peak value of the actual yaw rate and determines the actual yaw rate peak value to be the yaw rate. The controller also may calculate yaw angular acceleration based on the actual yaw rate and determine a yaw indicator based on the peak value of the yaw angular acceleration.
    Type: Grant
    Filed: October 12, 2018
    Date of Patent: June 7, 2022
    Assignee: ADVICS CO., LTD.
    Inventors: Chihiro Nitta, Satoshi Fujisue
  • Patent number: 11353592
    Abstract: Classifying sensor data as being associated with ground (as opposed to an object) may comprise determining a number of channels of sensor data that have returns in them, setting a number of control points and a number of knots of a curve based at least in part on the number of channels that have returns, and fitting a curve having the number of control points and the number of knots to the sensor data. The curve may be used to distinguish sensor data associated with the ground from sensor data associated with an object. Determining the curve may additionally or alternatively include limiting an elevation value of a control point and/or knot based on elevation value(s) of the sensor data, weighting the sensor data based at least in part on elevation values associated with the sensor data, and/or adjusting knot spacing, et alia.
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: June 7, 2022
    Assignee: Zoox, Inc.
    Inventors: Michael Carsten Bosse, Jacob Daniel Boydston, Joshua Kriser Cohen, Chuang Wang
  • Patent number: 11347234
    Abstract: In accordance with an example embodiment, a method of controlling a work vehicle includes sensing a surrounding environment of a work vehicle with a sensor, identifying an item of interest, determining a path toward or away from the item using the work vehicle's position, heading, and velocity, displaying the path, receiving a special steer command, steering the work vehicle based on the special steer command if the special steer command is received when no path is being displayed on the operator display, and autonomously controlling the work vehicle to travel along the path based on the special steer command if the special steer command is received while the path is being displayed on the operator display.
    Type: Grant
    Filed: October 30, 2019
    Date of Patent: May 31, 2022
    Assignee: DEERE & COMPANY
    Inventor: Bran Ferren
  • Patent number: 11345359
    Abstract: According to one embodiment, a first autonomous driving system (e.g., main system) is configured to perform a planning and control operation on an ADV, including perceiving a driving environment surrounding the ADV and planning a trajectory to drive the ADV. A second autonomous driving system (e.g., a backup system) operates as a redundant driving system to monitor a first operating status of the first autonomous driving system. The first autonomous driving system further monitors a second operating status of the second autonomous driving system. A safety action is performed to transition the ADV into a safer state based on the monitored operating status of the first and second autonomous driving systems.
    Type: Grant
    Filed: December 12, 2019
    Date of Patent: May 31, 2022
    Assignee: BAIDU USA LLC
    Inventor: Fan Zhu
  • Patent number: 11348383
    Abstract: Managing vehicle resources by a network device in lieu of a designated vehicle control device is disclosed. A connected car resource manager of a carrier core network can receive vehicle information intended for the designated vehicle control device. The connected car resource manager can determine a response command that can be substituted for a command from the designated vehicle control device update a parameter of the vehicle. The response command can be based on the vehicle information, supplementary information, etc. Moreover, the response command can be adapted based on a second tier of supplementary information by another carrier core network device. In some embodiments, the connected car resource manager can share management of response commands with the designated vehicle control device vehicle. The connected car resource manager can employ information about other vehicles connected to a network that is not available to the designated vehicle control device.
    Type: Grant
    Filed: April 29, 2020
    Date of Patent: May 31, 2022
    Assignee: AT&T MOBILITY II LLC
    Inventor: Arturo Maria
  • Patent number: 11340354
    Abstract: Methods and systems include localization of a vehicle localize precisely and in near real-time. As described, localization of a vehicle using a Global Navigation Satellite System (GNSS) can comprise receiving a signal from each of a plurality of satellites of a GNSS constellation and receiving input from one or more sensors of the vehicle. The input from the sensors can indicate current physical surroundings of the vehicle. A model of the current physical surrounding of the vehicle can be generated based on the input from the one or more sensors of the vehicle. One or more multipath signals received from the plurality of satellites can be mitigated based on the model and the vehicle can be localized using the received signals from the plurality of satellites of the GNSS constellation and based on the mitigation of the one or more multipath signals.
    Type: Grant
    Filed: June 26, 2019
    Date of Patent: May 24, 2022
    Assignee: NIO USA, Inc.
    Inventors: Tong Lin, Hiu Hong Yu, Veera Ganesh Yalla, Farzad Cyrus Foroughi Abari, Andre Michelin, Xu Chen
  • Patent number: 11332143
    Abstract: A method for controlling a wheel slip of a vehicle is provided. The method includes estimating equivalent inertia information of a driving system based on operation information of the driving system during operation of a vehicle and subsequently, calculating the amount of calibration for calibrating a torque command of a driving device for driving the vehicle from the estimated equivalent inertia information of the driving system. The torque command of the driving device is calibrated using the calculated amount of calibration and subsequently the torque applied to a driving wheel is adjusted according to the calibrated torque command.
    Type: Grant
    Filed: December 2, 2019
    Date of Patent: May 17, 2022
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Ji Won Oh, Jeong Soo Eo
  • Patent number: 11333507
    Abstract: Aspects of the disclosure provide systems and methods for providing suggested locations for pick up and destination locations. Pick up locations may include locations where an autonomous vehicle can pick up a passenger, while destination locations may include locations where the vehicle can wait for an additional passenger, stop and wait for a passenger to perform some task and return to the vehicle, or for the vehicle to drop off a passenger. As such, a request for a vehicle may be received from a client computing device. The request may identify a first location. A set of one or more suggested locations may be selected by comparing the predetermined locations to the first location. The set may be provided to the client computing device.
    Type: Grant
    Filed: May 29, 2020
    Date of Patent: May 17, 2022
    Assignee: Waymo LLC
    Inventors: Peter Colijn, Joshua Seth Herbach, Matthew Paul McNaughton
  • Patent number: 11334068
    Abstract: This disclosure relates to a system and method for transitioning vehicle control between autonomous operation and manual operation. The system includes sensors configured to generate output signals conveying information related to the vehicle and its operation. During autonomous vehicle operation, the system gauges the level of responsiveness of a vehicle operator through challenges and corresponding responses. The system determines when to present a challenge to the vehicle operator based on internal and external factors. If necessary, the system will transition from an autonomous operation mode to a manual operation mode.
    Type: Grant
    Filed: June 11, 2020
    Date of Patent: May 17, 2022
    Assignee: SMARTDRIVE SYSTEMS, INC.
    Inventors: Jason Palmer, Mark Freitas, Daniel A. Deninger, David Forney, Slaven Sljivar, Alekh Vaidya, Jeffrey Griswold
  • Patent number: 11334073
    Abstract: An autonomous driving device includes a navigation device configured to search a plurality of routes, from a diverging point to a target position, for one or more extra routes other than a recommended route before a vehicle passes the diverging point wherein the diverging point is a point where the vehicle is expected to pass; and an electronic control unit configured to control autonomous driving of the vehicle based on information on a particular extra route when the vehicle departs from the recommended route at the diverging point and travels on the particular extra route wherein the particular extra route is one of the one or more extra routes.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: May 17, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Akira Iijima, Hiroaki Sakakibara
  • Patent number: 11332161
    Abstract: A controller of an autonomous traveling vehicle as an information processing apparatus of the disclosure executes acquiring first information relating to a predetermined item and the first information relating to predetermined processing in a processing apparatus mounted on the autonomous traveling vehicle, acquiring second information relating to shipping of the predetermined item, controlling running of the autonomous traveling vehicle based on the second information, and controlling the operation of the processing apparatus based on the first information when the autonomous traveling vehicle is in a running state based on the second information.
    Type: Grant
    Filed: February 19, 2020
    Date of Patent: May 17, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kunihiro Murakami, Katsuhiko Sakakibara, Makoto Matsushita, Junya Sato, Kiyonori Yoshida, Tae Sugimura, Takashi Hayashi, Jun Endo
  • Patent number: 11334067
    Abstract: An apparatus for providing a safety strategy in a vehicle is provided. The apparatus includes a sensor configured to obtain information about a driver of the vehicle, an output device configured to output a notification to the driver, and a control circuit configured to be electrically connected with the sensor and the output device. The control circuit is configured to recognize a state of the driver based on the information obtained by the sensor, set a route toward a safety zone, when the state of the driver meets a specified condition, and control the vehicle to change a lane where the vehicle is traveling to a lane adjacent to the safety zone.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: May 17, 2022
    Assignees: Hyundai Motor Company, KIA Motors Corporation
    Inventors: Sung Min Park, Jin Su Jeong, Jae Yong Jeon
  • Patent number: 11325480
    Abstract: A travel control apparatus includes a state detection unit that detects whether each of at least three power sources of the autonomous driving system including one or more electricity storage devices and one or more power generators is in a normal state or in a malfunctioning state; and a mode setting unit that sets a fail operation mode corresponding to a type of at least one of the power sources upon determination that the at least one of the power sources is in the malfunctioning state.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: May 10, 2022
    Assignee: DENSO CORPORATION
    Inventors: Tomomi Hase, Mitsuharu Higashitani, Noriaki Ikemoto