Patents by Inventor JUAN ENRIQUE CASTORENA MARTINEZ
JUAN ENRIQUE CASTORENA MARTINEZ has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11783707Abstract: A computing system can receive, in a vehicle, moving object information is determined by processing lidar sensor data acquired by a stationary lidar sensor. The moving object information can be determined using typicality and eccentricity data analysis (TEDA) on the lidar sensor data. The vehicle can be operated based on the moving object information.Type: GrantFiled: October 9, 2018Date of Patent: October 10, 2023Assignee: Ford Global Technologies, LLCInventors: Mostafa Parchami, Juan Enrique Castorena Martinez, Enrique Corona, Bruno Sielly Jales Costa, Gintaras Vincent Puskorius
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Patent number: 11754415Abstract: A system includes a computer including a processor and a memory storing instructions executable by the processor to identify a location and an orientation of a vehicle on a map. The instructions include instructions to determine a location of an infrastructure sensor on the map based on the location and the orientation of the vehicle, data from a vehicle sensor, and data from the infrastructure sensor.Type: GrantFiled: September 6, 2019Date of Patent: September 12, 2023Assignee: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Mostafa Parchami, Codrin Cionca, Siddharth Agarwal, Gintaras Vincent Puskorius
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Patent number: 11709227Abstract: A sensor system is disclosed. The sensor system may comprise a housing; an emitter, carried by the housing, that emits a beam comprising depth-data signals; a beam-distribution adjustment system; and a processor programmed to control the adjustment system by selectively changing an angular distribution of the depth-data signals emitted from the housing.Type: GrantFiled: April 2, 2019Date of Patent: July 25, 2023Assignee: Ford Global Technologies, LLCInventors: Codrin Cionca, Juan Enrique Castorena Martinez, Mostafa Parchami, Linjun Zhang, Zhen Zhao
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Patent number: 11662434Abstract: A system is described. The system includes: a support; a first emitter coupled to the support, facing radially outwardly, and configured to emit a continuous-wave (CW) beam; and a second emitter coupled to the support, facing radially outwardly, and configured to emit a pulsed beam. The system may determine reflectivity using the first emitter and may determine a range using the second emitter.Type: GrantFiled: July 29, 2019Date of Patent: May 30, 2023Assignee: Ford Global Technologies, LLCInventors: Codrin Cionca, Juan Enrique Castorena Martinez, Lu Xu, Linjun Zhang
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Patent number: 11604288Abstract: A computer is programmed to determine a localization of a first vehicle, including location coordinates and an orientation of the first vehicle, based on first vehicle sensor data, and to wirelessly receive localizations of respective second vehicles, wherein a first vehicle field of view at least partially overlaps respective fields of view of each of the second vehicles. The computer is programmed to determine pair-wise localizations for respective pairs of the first vehicle and one of the second vehicles, wherein each of the pair-wise localizations defines a localization of the first vehicle relative to a global coordinate system based on a (a) relative localization of the first vehicle with reference to the respective second vehicle and (b) a second vehicle localization relative to the global coordinate system, and to determine an adjusted localization for the first vehicle that has a minimized sum of distances to the pair-wise localizations.Type: GrantFiled: November 8, 2019Date of Patent: March 14, 2023Assignee: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Codrin Cionca, Linjun Zhang, Lu Xu
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Patent number: 11495125Abstract: A system comprises a computer including a processor, and a memory. The memory stores instructions such that the processor is programmed to determine two or more clusters of vehicle operating parameter values from each of a plurality of vehicles at a location within a time. Determining the two or more clusters includes clustering data from the plurality of vehicles based on proximity to two or more respective means. The processor is further programmed to determine a reportable condition when a mean for a cluster representing a greatest number of vehicles varies from a baseline by more than a threshold.Type: GrantFiled: March 1, 2019Date of Patent: November 8, 2022Assignee: Ford Global Technologies, LLCInventors: Linjun Zhang, Juan Enrique Castorena Martinez, Codrin Cionca, Mostafa Parchami
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Patent number: 11391574Abstract: A system includes a Lidar sensor and a processor. The processor is programmed to detect, using Lidar sensor data, a low-density area comprising a plurality of Lidar beam reflections less than a threshold, to determine dimensions of the area, and to determine that the area represents a physical object based on the detection and determination.Type: GrantFiled: January 18, 2019Date of Patent: July 19, 2022Assignee: FORD GLOBAL TECHNOLOGIES, LLCInventors: Mostafa Parchami, Codrin Cionca, Juan Enrique Castorena Martinez
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Patent number: 11247724Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to receive a vehicle path from a server computer and verify the vehicle path based on vehicle dynamics and vehicle constraints. The instruction can include further instructions to, when the vehicle path is verified as correct, operating the vehicle on the vehicle path and, when the vehicle path is verified as incorrect, stopping the vehicle.Type: GrantFiled: August 16, 2019Date of Patent: February 15, 2022Assignee: Ford Global Technologies, LLCInventors: Linjun Zhang, Lu Xu, Codrin Cionca, Juan Enrique Castorena Martinez
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Publication number: 20210215505Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to receive initialization data for vehicle sensors including a first sensor, a second sensor and a third sensor, wherein the first sensor and the second sensor are a same type of sensor, and wherein initialization data is measurement of a common location on a fiducial target, determine a common coordinate system by a pair-wise evaluation of the initialization data between the first and second sensors, acquire first, second, and third sensor data from the first, second, and third sensors respectively and translate first, second, and third sensor data into the common coordinate system.Type: ApplicationFiled: January 13, 2020Publication date: July 15, 2021Applicant: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Krishanth Krishnan, Yucong Lin, Gintaras Vincent Puskorius
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Patent number: 11061120Abstract: A system and methods are described for calibrating one sensor with respect to another. A method includes: determining a depth-motion vector using a first sensor; determining an optical-motion vector using a second sensor; and calibrating the first sensor with respect to the second sensor by minimizing a cost function that evaluates a distance between the depth-motion and optical-motion vectors.Type: GrantFiled: April 24, 2018Date of Patent: July 13, 2021Assignee: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Gintaras Vincent Puskorius, Gaurav Pandey
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Patent number: 11035679Abstract: A computer includes a processor and a memory. The memory stores instructions executable by the processor to receive, in a vehicle, object data from an external node, and upon identifying a point, in the received object data, that is within a volume defined based on vehicle position data received from a vehicle sensor, to determine an adjusted vehicle position based on the identified point and the vehicle position data.Type: GrantFiled: January 4, 2019Date of Patent: June 15, 2021Assignee: FORD GLOBAL TECHNOLOGIES, LLCInventors: Codrin Cionca, Juan Enrique Castorena Martinez, Mostafa Parchami
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Patent number: 11029409Abstract: A map of an area is generated from first sensor data of a first field of view including a blocked area and second sensor data of a second field of view having an unblocked view of the blocked area.Type: GrantFiled: August 5, 2020Date of Patent: June 8, 2021Assignee: Ford Global Technologies, LLCInventors: Codrin Cionca, Mostafa Parchami, Zhen Zhao, Juan Enrique Castorena Martinez
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Patent number: 11016175Abstract: A reference pose graph can be generated from first point cloud data collected at each of a plurality of mobile nodes. A location of a stationary node can be specified based on the reference pose graph and second point cloud data collected by the stationary node.Type: GrantFiled: October 10, 2018Date of Patent: May 25, 2021Assignee: Ford Global Technologies, LLCInventors: Siddharth Agarwal, Ankit Girish Vora, Juan Enrique Castorena Martinez, Faizan Shaik
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Publication number: 20210150892Abstract: First area operating parameters specifying operation of a vehicle within a first area are determined based on traffic data received from a plurality of infrastructure sensors within the first area. Second area operating parameters specifying operation of the vehicle within a second area are determined based on traffic data received from the infrastructure sensor within the second area. The second area is within the first area. Upon the vehicle operating within the first area, the first area operating parameters are provided to the vehicle, and upon the vehicle operating within the second area, the second area operating parameters are provided to the vehicle.Type: ApplicationFiled: November 19, 2019Publication date: May 20, 2021Applicant: Ford Global Technologies, LLCInventors: Lu Xu, Linjun Zhang, Juan Enrique Castorena Martinez, Codrin Cionca
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Publication number: 20210141100Abstract: A computer is programmed to determine a localization of a first vehicle, including location coordinates and an orientation of the first vehicle, based on first vehicle sensor data, and to wirelessly receive localizations of respective second vehicles, wherein a first vehicle field of view at least partially overlaps respective fields of view of each of the second vehicles. The computer is programmed to determine pair-wise localizations for respective pairs of the first vehicle and one of the second vehicles, wherein each of the pair-wise localizations defines a localization of the first vehicle relative to a global coordinate system based on a (a) relative localization of the first vehicle with reference to the respective second vehicle and (b) a second vehicle localization relative to the global coordinate system, and to determine an adjusted localization for the first vehicle that has a minimized sum of distances to the pair-wise localizations.Type: ApplicationFiled: November 8, 2019Publication date: May 13, 2021Applicant: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Codrin Cionca, Linjun Zhang, Lu Xu
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Patent number: 10955857Abstract: A computing system receives first sensor data including moving objects and multi-modal LiDAR map data wherein the first sensor is calibrated based on a cost function that alternates between LiDAR map point cloud data and LiDAR map ground reflectivity data as input. The computing system can operate the vehicle based on the moving objects.Type: GrantFiled: October 2, 2018Date of Patent: March 23, 2021Assignee: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Codrin Cionca, Zhen Zhao, Mostafa Parchami
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Publication number: 20210072041Abstract: A system includes a computer including a processor and a memory storing instructions executable by the processor to identify a location and an orientation of a vehicle on a map. The instructions include instructions to determine a location of an infrastructure sensor on the map based on the location and the orientation of the vehicle, data from a vehicle sensor, and data from the infrastructure sensor.Type: ApplicationFiled: September 6, 2019Publication date: March 11, 2021Applicant: Ford Global Technologies, LLCInventors: Juan Enrique Castorena Martinez, Mostafa Parchami, Codrin Cionca, Siddharth Agarwal, Gintaras Vincent Puskorius
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Publication number: 20210046977Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to receive a vehicle path from a server computer and verify the vehicle path based on vehicle dynamics and vehicle constraints. The instruction can include further instructions to, when the vehicle path is verified as correct, operating the vehicle on the vehicle path and, when the vehicle path is verified as incorrect, stopping the vehicle.Type: ApplicationFiled: August 16, 2019Publication date: February 18, 2021Applicant: Ford Global Technologies, LLCInventors: Linjun Zhang, Lu Xu, Codrin Cionca, Juan Enrique Castorena Martinez
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Publication number: 20210033707Abstract: A system is described. The system includes: a support; a first emitter coupled to the support, facing radially outwardly, and configured to emit a continuous-wave (CW) beam; and a second emitter coupled to the support, facing radially outwardly, and configured to emit a pulsed beam. The system may determine reflectivity using the first emitter and may determine a range using the second emitter.Type: ApplicationFiled: July 29, 2019Publication date: February 4, 2021Applicant: Ford Global Technologies, LLCInventors: CODRIN CIONCA, JUAN ENRIQUE CASTORENA MARTINEZ, LU XU, LINJUN ZHANG
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Publication number: 20200363533Abstract: A map of an area is generated from first sensor data of a first field of view including a blocked area and second sensor data of a second field of view having an unblocked view of the blocked area.Type: ApplicationFiled: August 5, 2020Publication date: November 19, 2020Applicant: Ford Global Technologies, LLCInventors: Codrin Cionca, Mostafa Parchami, Zhen Zhao, Juan Enrique Castorena Martinez