Patents Examined by Rodney Butler
  • Patent number: 11460847
    Abstract: A controller for an autonomous vehicle may include: one or more processors configured to: determine a maneuver planned for the vehicle based on a safety driving model and based on a first message from a network component external to the vehicle, the first message including a respective assessment for each proposed maneuver of at least two maneuvers proposed for the vehicle, and provide an in-vehicle instruction to perform the maneuver planned for the vehicle.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: October 4, 2022
    Assignee: Intel Corporation
    Inventors: Rafael Rosales, Florian Geissler, Ignacio Alvarez, Neslihan Kose Cihangir
  • Patent number: 11458992
    Abstract: The present disclosure relates to a method for trajectory planning for a vehicle. The method includes obtaining a reference trajectory over a finite time horizon, where the reference trajectory includes a speed reference over time for the finite time horizon. Further, the method includes determining a back-up stop trajectory within the finite time horizon. The back-up stop trajectory has a starting state and terminating in a final state, where the final state is defined as a safe state. The method further includes forming a terminal set of states within the finite time horizon based on at least one predefined constraint, wherein the terminal set of states includes a terminal state that corresponds to the starting state for the back-up stop trajectory. Moreover, the method includes generating a nominal trajectory for at least a portion of the finite time horizon based on a constraint controlled technique.
    Type: Grant
    Filed: September 11, 2020
    Date of Patent: October 4, 2022
    Assignee: Zenuity AB
    Inventors: Ivo Batkovic, Mohammad Ali, Mario Zanon, Paolo Falcone
  • Patent number: 11460860
    Abstract: Technologies and techniques for producing swarm trajectories for a specified lane of a roadway section, wherein a plurality of vehicles driving in the specified lane transmits the respective driving trajectories of the vehicles to a back-end computer, which determines a swarm trajectory for the specified lane from the transmitted trajectories. The vehicles determine specified constraints during driving in the lane, and the determined constraints are transmitted to the back-end computer together with the trajectory in question. The back-end computer determines at least one swarm trajectory for the specified lane as a function of at least one constraint from the transmitted trajectories and the constraints.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: October 4, 2022
    Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventors: Stephan Max, Sebastian Hamel, Timur Aminev
  • Patent number: 11454508
    Abstract: A system includes a processor configured to determine a navigation instruction execution location within a predefined distance from a vehicle location. The processor is also configured to communicate with a wireless transceiver to receive information identifying an intervening turn-option location, between the execution location and vehicle location. The processor is further configured to determine a distance between the vehicle location and turn-option location and display the determined distance on a navigation display, until the vehicle passes the turn-option location.
    Type: Grant
    Filed: October 12, 2020
    Date of Patent: September 27, 2022
    Assignee: Ford Global Technologies, LLC
    Inventors: Oliver Lei, Allen R. Murray
  • Patent number: 11453240
    Abstract: A steering control method and system for a vehicle may determine whether the snow chain has been mounted by comparing the number of times of vibrations of a certain peak or more detected by respective wheel speed sensors with respect to a current vehicle speed with a predetermined value, and selectively controls the operations of an AFS and a RWS according to the position of the wheel on which the snow chain has been mounted, when it is determined that the snow chain has been mounted.
    Type: Grant
    Filed: September 12, 2019
    Date of Patent: September 27, 2022
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventor: Jang Hyun Jung
  • Patent number: 11447156
    Abstract: A system includes an autonomous vehicle (AV) comprising a sensor, a control subsystem, and an operation server. The control subsystem receives sensor data comprising location coordinates of the AV from the sensor. The operation server detects an unexpected event from the sensor data, comprising at least one of an accident, an inspection, and a report request. The operation server receives a message from a user comprising a request to access particular information regarding the AV and location data. The operation server associates the AV with the user if the location coordinates of the AV match location data of the user. The operation server generates a ticket for the unexpected ticket. The operation server communicates the particular information to the user. The operation server provides instructions to be forwarded to the user based on a request from the user. The operation server closes the ticket if the unexpected event is addressed.
    Type: Grant
    Filed: January 15, 2021
    Date of Patent: September 20, 2022
    Assignee: TUSIMPLE, INC.
    Inventor: Joyce Tam
  • Patent number: 11449072
    Abstract: Various embodiments include methods and interactive traffic control devices for interactively controlling traffic, which may include receiving refined location and state information associated with individual vehicles on a roadway, and determining customized dynamic traffic control instructions for a first one or more of the individual vehicles. The determined customized dynamic traffic control instructions may be based on the received refined location and state information and offer an optional route alternative to a set limited number of the individual vehicles. The first customized dynamic traffic control instructions may be transmitted by the interactive traffic control device to the first one or more of the individual vehicles.
    Type: Grant
    Filed: August 8, 2019
    Date of Patent: September 20, 2022
    Assignee: QUALCOMM Incorporated
    Inventors: Paul Daniel Martin, Jonathan Paul Davis, Michael Joshua Shomin, Stephen Marc Chaves, Daniel Warren Mellinger, III, John Anthony Dougherty, Aleksandr Kushleyev, Travis Van Schoyck, Ross Eric Kessler, Moussa Ben Coulibaly, Kristen Wagner Cerase
  • Patent number: 11449060
    Abstract: A control apparatus for performing travel control of a vehicle comprises a sensor configured to detect a state around the vehicle, and a travel controller configured to perform travel control for automated driving based on a detection result of the sensor. The travel controller is configured to, in a case where a predetermined condition is satisfied, select a target stop position located in a latitudinal direction with respect to a direction in which the vehicle moves, according to selection criteria, and to stop the vehicle at the target stop position. The selection criteria include a comparison between a speed of the vehicle and a threshold speed.
    Type: Grant
    Filed: March 23, 2020
    Date of Patent: September 20, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Tadahiko Kanoh, Hiroaki Horii
  • Patent number: 11442455
    Abstract: Apparatuses and methods for generating a local motion of a mobile object based on a machine learning are disclosed. The methods may include determining, by processing circuitry, a local window corresponding to a current position of the mobile object in a global area; generating, by processing circuitry, a local cost map indicating a probability of a collision of the mobile object with an obstacle in the local window; generating, by processing circuitry, a local goal map indicating a local path in the local window between the current position and a local goal in the local window; and determining, by processing circuitry, a target velocity of the mobile object based on output data of a neural network, the output data based on an input of input data to the neural network, the input data including the local cost map, the local goal map, and a current velocity of the mobile object.
    Type: Grant
    Filed: November 4, 2019
    Date of Patent: September 13, 2022
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Joon-Kee Cho, Kyung-Rock Kim, Taesin Ha
  • Patent number: 11434081
    Abstract: An autonomous vehicle, for example, an automated guided vehicle or an autonomous mobile robot, has a support structure having a general double-hull configuration, with two separate longitudinal hulls, parallel to each other and transversely spaced apart, and at least two bridge structures that connect the hulls to each other. The aforesaid bridge structures have ends connected to the two hulls by interposition of elastic joints, in such a way that the two hulls are free to perform differentiated oscillating movements so as to allow the front wheels and the rear wheels of the vehicle to remain in contact with the surface on which the vehicle is moving, even when this surface has irregularities and/or slope variations.
    Type: Grant
    Filed: September 4, 2019
    Date of Patent: September 6, 2022
    Assignee: Comau S.p.A.
    Inventors: Enrico Mauletti, Enrico Rui, Mauro Berzano, Ivan Lazzero, Simone Romeo
  • Patent number: 11427205
    Abstract: Provided is a vehicle stop support system for supporting vehicle stop in an emergency condition. The vehicle stop support system detects a physical abnormality of a driver; sets a stop point; and controls a vehicle to travel to the stop point and stop at the stop point. The system is operable to: calculate, with respect to each of a plurality of stop point candidates, a first index value which increases with an increase in a lateral acceleration, a second index value which increases with an increase in rear-end collision risk, a third index value based on the detected abnormality, and a gross index value, wherein the gross index value is obtained by subjecting the first, second, and third index values to weighting, and summing the resulting weighted index values; and then set one of candidates which is smallest in terms of the gross index value, as the stop point.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: August 30, 2022
    Assignee: Mazda Motor Corporation
    Inventors: Takashi Sugano, Takuya Yamashita, Takesato Fushima
  • Patent number: 11429108
    Abstract: Provided is a noise-canceling learning device capable of performing control so as to prevent performing processing such as useless deceleration at the same place in self driving, for example, on a highway, and a vehicle including the noise-canceling learning device. The detection determination processing unit 143 of the noise-canceling learning device 14 causes the perceived object to be stored in (a data table of) the information storage unit 144 as a determination object in association with the perceived object and the own vehicle position information, determines whether the perceived object perceived by the sensor recognition perceiving unit 141 and the determination object stored in (a data table of) the information storage unit 144 match based on the position of the own vehicle 1 estimated by the own vehicle position estimating unit 142, and determines whether the perceived object perceived by the sensor recognition perceiving unit 141 is correct.
    Type: Grant
    Filed: January 29, 2019
    Date of Patent: August 30, 2022
    Assignee: HITACHI ASTEMO, LTD.
    Inventors: Koichi Terui, Makoto Kudo
  • Patent number: 11416005
    Abstract: A method and apparatus for controlling an unmanned vehicle to perform route verification are disclosed. A method may include: receiving to-be-verified route information sent by a cloud server in communication connection, the to-be-verified route information including road information and expected traveling state information corresponding to a road section on a road characterized by the road information, and the expected traveling state information being used to characterize an expected traveling state of the unmanned vehicle on the corresponding road section; and performing following verification according to a set period during driving of the unmanned vehicle along the road: detecting a traveling state of the unmanned vehicle; and determining a verification result of the to-be-verified route information, based on a matching relationship between the detected traveling state and an expected traveling state corresponding to a road section of a current location in the to-be-verified route information.
    Type: Grant
    Filed: October 25, 2019
    Date of Patent: August 16, 2022
    Assignee: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.
    Inventors: Yue Wang, Zelin Wu, Jingjing Xue, Yingnan Liu, Wenlong Rao, Zijie Wang
  • Patent number: 11409296
    Abstract: An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD is used to determine an occupancy map indicative of obstacles and their locations in the physical space. Obstacles may be static, variable, or dynamic. For example, walls are static, doors which open and close are variable, and people moving through the environment are dynamic. Regions in the occupancy map that the AMD has visited but which are shown by the occupancy map as containing obstacles are identified as being variable regions. To determine possible paths through the physical space during autonomous movement, the variable regions are considered to be unoccupied by obstacles and traversable. Information about how often the variable region transitions between traversable and impassible states may also be used to determine the possible paths.
    Type: Grant
    Filed: September 17, 2019
    Date of Patent: August 9, 2022
    Assignee: AMAZON TECHNOLOGIES, INC.
    Inventors: Chang Young Kim, Roger Robert Webster
  • Patent number: 11402846
    Abstract: A mobile automation apparatus includes: a chassis supporting a locomotive assembly and an illumination assembly configured to emit light over a field of illumination (FOI); a navigational controller connected to the locomotive assembly and the illumination assembly, the navigational controller configured to: obtain a task definition identifying a region in a facility; generate a data capture path traversing the region from an origin location to a destination location, the data capture path including: (i) an entry segment beginning at the origin location and defining a direction of travel angled away from a support structure in the region such that a lagging edge of the FOI intersects with the support structure; and (ii) an exit segment defining a direction of travel angled towards the support structure and terminating at the destination location such that a leading edge of the FOI intersects with the support structure.
    Type: Grant
    Filed: June 3, 2019
    Date of Patent: August 2, 2022
    Assignee: Zebra Technologies Corporation
    Inventors: Dmitri Katsif, Sadegh Tajeddin, Harsoveet Singh
  • Patent number: 11397437
    Abstract: A system with a first floor processing device and a second floor processing device that is designed to orient and localize itself within an environment based on an area map. The first floor processing device is set up to detect a movement path during a movement by the first floor processing device and transmit information about the detected movement path to the second floor processing device. The second floor processing device has a control and evaluation unit that is set up to analyze the received information and, based upon the movement path detected by the first floor processing device and/or a partial area of the environment not traversed by the movement path, enter a no-go area into the area map which the second floor processing device is not allowed to traverse.
    Type: Grant
    Filed: January 17, 2020
    Date of Patent: July 26, 2022
    Assignee: Vorwerk & Co. Interholding GmbH
    Inventors: Hans-Peter Arnold, Thomas Buening, Benjamin Fleczok, Robert Frielinghaus, Martin Helmich, Lorenz Hillen, Christian Holz, Gerhard Isenberg, Andrej Mosebach, Roman Ortmann, Kevin Schmitz, Fabian Vitz, Niklas Van Teeffelen, Uwe Kemker, Georg Hackert
  • Patent number: 11392139
    Abstract: A method, an apparatus and a control system for controlling a mobile robot are provided. The method includes: receiving a motion mode change request sent by a target mobile robot, the motion mode change request including motion mode information, and the motion mode information being information of a motion mode to be obtained by change requested by the target mobile robot; determining whether the target mobile robot has a permission to move in the motion mode; and sending motion confirmation information for the motion mode change request to the target mobile robot to control the target mobile robot to move in the motion mode, in response to determining that the target mobile robot has the permission.
    Type: Grant
    Filed: September 18, 2020
    Date of Patent: July 19, 2022
    Assignee: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Yue Wang, Zelin Wu, Jingjing Xue, Yingnan Liu, Wenlong Rao, Shi Hu
  • Patent number: 11392138
    Abstract: A vehicle that is able to travel autonomously includes a control unit configured to perform: stopping a first service and executing a second service of emergency support when the emergency has occurred during execution of the first service; and executing movement to a predetermined position associated with the second service. An information processing device includes a control unit configured to perform: detecting occurrence of an emergency; and instructing a vehicle, which is able to travel autonomously and which is located in a predetermined range including an area in which the emergency has occurred, to stop a first service which is being executed and to execute a second service of emergency support.
    Type: Grant
    Filed: December 23, 2019
    Date of Patent: July 19, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Masaki Shitara, Hiromichi Dogishi, Keiji Yamashita, Nozomi Kaneko, Naoki Yamamuro, Shunsuke Tanimori, Ryoichi Shiraishi
  • Patent number: 11386783
    Abstract: A guiding device for at least one vehicle, including a receiving unit of an infrastructure sensor unit for receiving data of a surroundings of the vehicle and for receiving data of a destination of the vehicle; and an ascertainment unit, the ascertainment unit being designed to ascertain a trajectory from the data of the surroundings and the data of the destination and to transmit the data wirelessly to the vehicle.
    Type: Grant
    Filed: December 2, 2019
    Date of Patent: July 12, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Benjamin Voelz, Matthias Maier, Matthias Haug, Michael Gabb, Ruediger-Walter Henn
  • Patent number: 11386724
    Abstract: The control device of a vehicle configured to: control a door lock mechanism locking a door of the vehicle; make the vehicle stop when the vehicle is in a specific abnormal state; and determine if it is safe for a user of the vehicle to get off the vehicle from each door of the vehicle while the vehicle is stopped when the vehicle is in the specific abnormal state, wherein the control device controls the door lock mechanism such that a door is maintained in a locked state while the vehicle is being driven and while the vehicle is stopped when the vehicle is not in the specific abnormal state, unlocks the door determined to be safe to get off by the door lock mechanism, and does not unlock the door determined to not be safe to get off when the vehicle is stopped when entering the specific abnormal state.
    Type: Grant
    Filed: December 13, 2019
    Date of Patent: July 12, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Nobuhide Kamata, Yasuo Uehara, Nozomu Hatta, Shunsuke Tanimori