Radiation, Force, Or Waves Reflected From External Object Or Surface Patents (Class 180/169)
  • Patent number: 9898011
    Abstract: Provided is a technology that, when an unmanned haulage vehicle and a manned haulage vehicle are allowed to exist together and are subjected to fleet operations management, can provide driving assistance to an operator of the manned vehicle by using control data similar to those to be transmitted to the unmanned haulage vehicle. To this end, the manned vehicle is provided with a terminal-side communication control unit, a control command value conversion unit and a control command value providing unit. The terminal-side communication control unit receives, from a fleet operations management server that performs operations management of the unmanned haulage vehicle, a control command value for allowing the unmanned haulage vehicle to travel autonomously. The control command value conversion unit converts contents of the control command value to perceivable information. The control command value providing unit provides the perceivable information to the operator.
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: February 20, 2018
    Assignee: HITACHI CONSTRUCTION MACHINERY CO., LTD.
    Inventors: Toshimichi Minowa, Tomoyuki Hamada, Hidefumi Ishimoto
  • Patent number: 9889884
    Abstract: A travel control apparatus for a vehicle detects a vehicle to be passed that is a target of passing and is in front of the vehicle equipped with the apparatus in the traveling lane thereof, detects a parallel traveling vehicle that is traveling in a lane that is adjacent to a lane to which the vehicle performs lane changing to pass the vehicle to be passed and is located on the opposite side of the lane which the vehicle to be passed is traveling, monitors the vehicle to be passed and the parallel traveling vehicle, and variably controls a passing maneuver with respect to the vehicle to be passed on the basis of a monitoring result.
    Type: Grant
    Filed: June 16, 2015
    Date of Patent: February 13, 2018
    Assignee: SUBARU CORPORATION
    Inventors: Koji Matsuno, Harunobu Horiguchi, Shiro Ezoe, Takayuki Nagase, Hajime Oyama, Yasushi Takaso, Masato Mizoguchi
  • Patent number: 9885578
    Abstract: A curve-shape modeling device that divides multiple sampling points along a route into a linear section, a relaxation curve section and a steady section, and models a curve shape of the route, includes: a curve extraction unit that extracts a curve from the sampling points based on a curvature of the sampling points; a steady section curvature determination unit that determines a curvature of the steady section based on a curvature of sampling points included in an extracted curve; and a curve entry and exit determination unit that sets a predetermined curvature range including the curvature of the steady section, and determines a start point and an end point of the steady section based on the curvature range.
    Type: Grant
    Filed: March 21, 2014
    Date of Patent: February 6, 2018
    Assignee: DENSO CORPORATION
    Inventors: Nobuhiro Mizuno, Masahiro Iida
  • Patent number: 9880275
    Abstract: Disclosed herein is a vehicle radar. The radar may include Tx antennas for a middle range, Tx antennas for a short range, Rx antenna columns for a middle range each configured to have a long shape vertically and be horizontally disposed, Rx antenna columns for a short range each configured to have a long shape vertically and be disposed between some of the Rx antenna columns for a middle range, and a control unit configured to process signals of radio waves that are reflected from a specific object after the radio waves are radiated by the Tx antennas for the middle range and that are received by the Rx antenna columns for the middle range or signals of radio waves that are reflected from a specific object after the radio waves are radiated by the Tx antennas for the short range and that are received by the Rx antenna columns for the short range.
    Type: Grant
    Filed: August 8, 2014
    Date of Patent: January 30, 2018
    Assignee: MANDO CORPORATION
    Inventors: Seong Hee Jeong, Jae Eun Lee
  • Patent number: 9880555
    Abstract: An approach is provided for comparing experienced curvatures with geometry-based curvatures to identify road environments. The approach involves causing, at least in part, an aggregation of a plurality of curvature samples collected from one or more vehicles traversing one or more travel segments. The approach also involves processing and/or facilitating a processing of the curvature samples to determine at least one experienced curvature for the one or more travel segments. The approach further involves determining at least one geometry-based curvature for the one or more travel segments. The approach also involves determining one or more differences between at least one experienced curvature and the at least one geometry-based curvature.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: January 30, 2018
    Assignee: HERE Global B.V.
    Inventor: James D. Lynch
  • Patent number: 9868441
    Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle. In the apparatus, a controller is configured to implement the inter-vehicle distance control based on an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle acquired from the detected distance. A control switcher is configured to, when target information for identifying the rear end of the preceding vehicle becomes unacquirable during implementation of the inter-vehicle distance control, suspend the inter-vehicle distance control and make a switch to the direct operation by the driver.
    Type: Grant
    Filed: July 10, 2015
    Date of Patent: January 16, 2018
    Assignees: DENSO CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mitsuhiro Tokimasa, Youhei Masui, Minoru Nakadori
  • Patent number: 9859723
    Abstract: Provided is a vehicle controlling apparatus including: an inputter configured to detect an event; a battery manager configured to check a first battery charge/discharge range corresponding to a range for preventing a decrease in a lifespan of a battery and configured to determining whether the first battery charge/discharge range is equal to a second battery charge/discharge range corresponding to a range for the event, wherein if the first battery charge/discharge range is different from the second battery charge/discharge range, the battery manager is configured to set a third battery charge/discharge range corresponding to the second battery charge/discharge range; a memory configured to store the third battery charge/discharge range; and a controller configured to control charging or discharging of the battery within the third battery charge/discharge range.
    Type: Grant
    Filed: April 22, 2015
    Date of Patent: January 2, 2018
    Assignee: HANWHA LAND SYSTEMS CO., LTD.
    Inventors: Heeseo Chae, Yongjoon Chang, Youngsik Oh
  • Patent number: 9858621
    Abstract: Methods and systems for determining the effectiveness of one or more autonomous (and/or semi-autonomous) operation features of a vehicle are provided. According to certain aspects, information regarding autonomous operation features of the vehicle may be used to determine an effectiveness metric indicative of the ability of each autonomous operation feature to avoid or mitigate accidents or other losses. The information may include operating data from the vehicle or other vehicles having similar autonomous operation features, test data, or loss data from other vehicles. The determined effectiveness metric may then be used to determine part or all of an insurance policy, which may be reviewed by an insured and updated based upon the effectiveness metric.
    Type: Grant
    Filed: May 15, 2015
    Date of Patent: January 2, 2018
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Blake Konrardy, Scott T. Christensen, Gregory Hayward, Scott Farris
  • Patent number: 9855886
    Abstract: A tire track indicator system is provided that couples physical tire tracks to headlights of a vehicle. The tire track indicator system of the vehicle includes an angle monitor that determines a steering direction of the vehicle. The tire track indicator system also includes an illumination source and a lens that directs at least a portion of light in the steering direction and provides an indication of a travel path of the vehicle. A direction of at least the portion of light is altered based on a corresponding change to the steering direction. Further, the indication includes at least one lens that outputs respective colors based on a set of contexts of the vehicle.
    Type: Grant
    Filed: July 16, 2015
    Date of Patent: January 2, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Hajime Yamada
  • Patent number: 9849786
    Abstract: A method according to an exemplary aspect of the present disclosure includes, among other things, controlling an electrified vehicle by adjusting a deceleration rate based on a closing rate of the electrified vehicle to an oncoming object.
    Type: Grant
    Filed: September 2, 2014
    Date of Patent: December 26, 2017
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Kenneth James Miller, Douglas Raymond Martin, William Paul Perkins, Derek Hartl
  • Patent number: 9852475
    Abstract: Methods and systems for evaluating the effectiveness of autonomous operation features of autonomous vehicles using an accident risk model are provided. According to certain aspects, an accident risk model may be determined using effectiveness information regarding autonomous operation features associated with a vehicle. The effectiveness information may indicate a likelihood of an accident for the vehicle and may include test data or actual loss data. Determining the likelihood of an accident may include determining risk factors for the features related to the ability of the features to make control decisions that successfully avoid accidents. The accident risk model may further include information regarding effectiveness of the features relative to location or operating conditions, as well as types and severity of accidents. The accident risk model may further be used to determine or adjust aspects of an insurance policy associated with an autonomous vehicle.
    Type: Grant
    Filed: May 15, 2015
    Date of Patent: December 26, 2017
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Blake Konrardy, Scott T. Christensen, Gregory Hayward, Scott Farris
  • Patent number: 9851722
    Abstract: An apparatus includes an initial planning module, a tandem implementation module, and a scheduler module. The initial planning module is structured to interpret one or more fleet delivery requirements, assets, drivers, and vehicle descriptions. The tandem implementation module is structured to determine a travel schedule with respect to a first vehicle and a second vehicle that enables the first vehicle and the second vehicle to travel in tandem for a least a portion of a route in response to input from the initial planning module. The scheduler module is structured to provide a fleet delivery schedule to the first vehicle and the second vehicle in response to the determination of the tandem implementation module.
    Type: Grant
    Filed: January 3, 2017
    Date of Patent: December 26, 2017
    Assignee: Cummins Inc.
    Inventors: Steven J. Kolhouse, Carlos A. Lana, Vivek A. Sujan, Phani Vajapeyazula, J. Stephen Wills, Thomas M. Yonushonis
  • Patent number: 9851432
    Abstract: A sensor holder for a sensor for object detection includes: an installation unit for the sensor; a holding frame on which the installation unit is pivotably held; and an adjustment shaft mounted on the holding frame, the adjustment shaft having a guidance contour which proceeds helically around the adjustment shaft and is in engagement with a guidance element of the installation unit.
    Type: Grant
    Filed: January 21, 2013
    Date of Patent: December 26, 2017
    Assignee: ROBERT BOSCH GMBH
    Inventor: Matthias Dihlmann
  • Patent number: 9849883
    Abstract: A vehicle system includes a processor with access to a memory storing instructions executable by the processor. The instructions include determining whether an autonomous host vehicle can traverse an environmental obstacle, and if the autonomous host vehicle can traverse the environmental obstacle, controlling an active suspension system in accordance with the environmental obstacle and controlling the autonomous host vehicle to traverse the environmental obstacle.
    Type: Grant
    Filed: May 4, 2016
    Date of Patent: December 26, 2017
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Jianbo Lu, Davor David Hrovat, Hongtei Eric Tseng
  • Patent number: 9845048
    Abstract: A car door opening pre-detection system for a car includes a first detecting module, a second detecting module and a control module. The first detecting module is installed within the car. The first detecting module issues a motion detecting signal according to a result of detecting a motion of a palm. The second detecting module is installed outside the car. When the car is stopped, the second detecting module is enabled to selectively provide a first detection range or a second detection range. The control unit judges whether a car door of the car is about to be opened according to the motion detecting signal. When the car is stopped and the control module judges that the car door is about to be opened, the second detecting module provides the second detection range to detect whether there is a moving object behind the car.
    Type: Grant
    Filed: December 7, 2016
    Date of Patent: December 19, 2017
    Assignee: Primax Electronics Ltd.
    Inventors: Ying-Che Tseng, Tung-Heng Wu
  • Patent number: 9845676
    Abstract: A method of open cut mining comprising carrying out mining operations in an area of an open cut mine with manned resources and unmanned resources and providing separate access for these resources to the mine area at selected locations. Alternatively, or in addition, the method comprises carrying out mining operations in the mine area with manned resources and unmanned resources operating in selected, separate unmanned and manned zones, respectively within the mine area.
    Type: Grant
    Filed: September 4, 2014
    Date of Patent: December 19, 2017
    Assignee: Technological Resources Pty. Limited
    Inventor: Andrew Stokes
  • Patent number: 9840236
    Abstract: A method of operating a vehicle wherein the method comprises using a distance sensor to determine the distance between a part of the vehicle and an object, and implementing a speed control procedure if the distance detected by the distance sensor falls below a predetermined value, characterized in that the method is implemented only while the vehicle is in reverse gear and for a period of time immediately following disengagement of the reverse gear.
    Type: Grant
    Filed: April 4, 2014
    Date of Patent: December 12, 2017
    Assignees: Haldex Brake Products Limited, Vignal Systems
    Inventors: Christoph Roblin, Guillaume Dupuis
  • Patent number: 9834210
    Abstract: A frequency of an unnecessary operation of automatic braking due to a reflected wave from a guard rail is decreased. When a collision avoidance control unit determines that an obstacle detected by a radar sensor and an own vehicle are highly likely to collide with each other, the collision avoidance control unit reads a state signal output by a parking support control unit, and determines whether or not the state signal indicates a specific state, which is a state where parallel parking support is being carried out or a state where exit support is being carried out. When the state signal indicates the specific state, the collision avoidance control unit inhibits the automatic braking.
    Type: Grant
    Filed: October 20, 2016
    Date of Patent: December 5, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Motonari Ohbayashi, Akihiro Kida, Toshihiro Takagi, Masashi Yamazaki, Tatsuya Nishi, Hironobu Ishijima
  • Patent number: 9834248
    Abstract: A vehicle guidance system comprises a hydraulic steering cylinder for controlling a steering angle of a steerable wheel of a vehicle. A hydraulic steering valve is adapted to control a flow of hydraulic fluid to the hydraulic steering cylinder. A stepper motor is adapted to move or modulate a shaft coupled to the hydraulic steering valve in accordance with a control signal or control data message from a vehicle guidance controller. A position encoder of the stepper motor can measure the movement of the shaft. A steering angle estimator can estimate the steering angle based on measurements of the position encoder. A location-determining receiver provides position data and heading data. A vehicle guidance controller provides the control signal or control data message based on the estimated steering angle, position data and heading data.
    Type: Grant
    Filed: January 15, 2016
    Date of Patent: December 5, 2017
    Assignee: DEERE & COMPANY
    Inventors: Frederick W. Nelson, Terence D. Pickett
  • Patent number: 9835712
    Abstract: A vehicle radar system (3, 3?, 3?) and method which including a microcontroller unit (21), MCU, and a plurality of Analog to Digital Converters (9, 10, 11, 12), (ADCs), arranged to convert the received signals to a digital form and to transfer the converted digital signals to a first and second Digital Signal Processor (DSP) (18, 19), DSP. The MCU (21) is arranged to control the DSPs (18, 19) such that for one time frame (n), the first DSP (18) functions as a Master DSP and the second DSP (19) functions as a Slave DSP, and such that for the next time frame (n+1), the first DSP (18) is configured to function as a Slave DSP and the second DSP (19) functions as a Master DSP. The MCU compares the raw target data from the first and second DSPs (19) to determine a degree of functionality for the DSPs (18, 19).
    Type: Grant
    Filed: December 21, 2012
    Date of Patent: December 5, 2017
    Assignee: AUTOLIV DEVELOPMENT AB
    Inventor: Norbert Kollmer
  • Patent number: 9827986
    Abstract: Systems and methods for adaptive cruise control based on user defined parameters are disclosed. An example disclosed vehicle includes a GPS receiver configured to provide a location of the vehicle, an adaptive cruise control; and a cruise control adjuster. In the example cruise control adjuster is configured to generate an action when a cruise control event is defined for the location. In the disclosed example the cruise control event is based on past changes to the adaptive cruise control at the location. The example cruise control adjuster is also configured to apply the action to the adaptive cruise control to change how the adaptive cruise control controls the vehicle.
    Type: Grant
    Filed: March 29, 2016
    Date of Patent: November 28, 2017
    Assignee: Ford Global Technologies, LLC
    Inventors: Thomas Edward Pilutti, Shane Elwart, Johannes Geir Kristinsson, David Hamilton
  • Patent number: 9827955
    Abstract: A method for controlling a vehicle includes automatically controlling vehicle brakes to decelerate the vehicle at a braking deceleration rate in response to an anticipated stop at a traffic signal and an adaptive cruise control system being active. The method further includes, in response to the vehicle decelerating to an intermediate speed, releasing the vehicle brakes. The intermediate speed is determined such that, at the intermediate speed, a coasting distance to a full stop is approximately equal to a distance to the traffic signal.
    Type: Grant
    Filed: March 6, 2015
    Date of Patent: November 28, 2017
    Assignee: Ford Global Technologies, LLC
    Inventors: Kenneth James Miller, Douglas Raymond Martin, William Paul Perkins
  • Patent number: 9827970
    Abstract: A vehicle, a vehicle speed control system, and a method of controlling vehicle speed are provided. The vehicle may include a powertrain and a controller. The controller may be programmed to reduce a powertrain output based on a braking comfort parameter such that a speed becomes less than a threshold speed associated with the parking maneuver prior to completion of the parking maneuver.
    Type: Grant
    Filed: March 11, 2015
    Date of Patent: November 28, 2017
    Assignee: Ford Global Technologies, LLC
    Inventor: Erick Michael Lavoie
  • Patent number: 9821802
    Abstract: A composite autonomous driving assistant system for making decision and a method of using the same is provided. A longitudinal-controlling autonomous driving assistant device and a lateral-controlling autonomous driving assistant device start to automatically assist in driving a vehicle. Then, a sensing device senses states of the vehicle and an environment and generates one sensing signal. When a controller determines that the collision period is less than a preset collision period and that a deceleration signal of the sensing signal is larger than a preset deceleration, the controller generates a turn-stopping signal. When the controller determines that a turn angle signal of the sensing signal is larger than a preset angle, the controller generates a speed-stopping signal. The system establishes a switching threshold condition when the plurality autonomous driving assistant devices coexist.
    Type: Grant
    Filed: April 29, 2016
    Date of Patent: November 21, 2017
    Assignee: Automotive Research & Test Center
    Inventors: Po-Kai Tseng, Shun-Hung Chen
  • Patent number: 9821807
    Abstract: Methods and systems for determining instructions for pulling over an autonomous vehicle are described. An example method may involve identifying a region of a road ahead of the autonomous vehicle based on lane boundaries of the road, one or more road boundaries indicating an edge of the road, and a size of the autonomous vehicle. The method may also involve determining a braking profile for reducing the speed of the autonomous vehicle based on the region and a speed of the autonomous vehicle. The method may also involve determining, based on the braking profile, a trajectory such that the autonomous vehicle will travel within the region while reducing the speed of the autonomous vehicle. The method may further involve determining instructions for pulling over and stopping the autonomous vehicle in the region in accordance with the determined trajectory and storing the instructions in a memory accessible by a computing device.
    Type: Grant
    Filed: June 14, 2017
    Date of Patent: November 21, 2017
    Assignee: Waymo LLC
    Inventors: Joshua Seth Herbach, Nathaniel Fairfield
  • Patent number: 9824587
    Abstract: A method for determining potential collision includes capturing image data of an exterior environment ahead of a subject vehicle via a camera disposed at the subject vehicle. The presence of a leading vehicle ahead of the equipped vehicle is determined via image processing of captured image data. A time to collision to the leading vehicle is determined via image processing of captured image data. A determination, via image processing of captured image data, is made if a brake light of the leading vehicle is illuminated. Based at least in part on the determined time to collision and determination that the brake light of the leading vehicle is illuminated, at least one of (i) a degree of warning to a driver of the subject vehicle is determined and (ii) a braking level of the subject vehicle to mitigate collision with the leading vehicle is determined.
    Type: Grant
    Filed: February 12, 2016
    Date of Patent: November 21, 2017
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: William J. Chundrlik, Jr., Dominik Raudszus
  • Patent number: 9810776
    Abstract: A mechanical scanning system for the illuminating laser beam and return light in LIDAR imaging systems. The scanning system includes a flat mirror having reciprocating rotary motion around a horizontal axis for vertical scan of the illuminating laser beam and return light. The reciprocating rotary motion of the mirror is driven by a continuously rotating motor, a cam mounted on the motor and a follower connected to the mirror and driven by the cam. An encoder is connected to the mirror's shaft and provides position indication to the imaging control electronics.
    Type: Grant
    Filed: December 5, 2014
    Date of Patent: November 7, 2017
    Assignee: Irvine Senors Corp.
    Inventor: Itzhak Sapir
  • Patent number: 9805423
    Abstract: Methods and systems for determining fault for an accident involving a vehicle having one or more autonomous and/or semi-autonomous operation features are provided. According to certain aspects, performance data indicative of the performance of the features may be used to determine fault for a vehicle accident, such as a collision, by allocating fault for the accident between a vehicle operator, the autonomous operation features, or a third party. The allocation of fault may be used to determine an adjustment to an insurance policy and/or adjust coverage levels for an insurance policy. The allocation of fault may further be used to adjust risk levels or profiles associated with the autonomous or semi-autonomous operation features, which may be applied to other vehicles having the same or similar features.
    Type: Grant
    Filed: May 15, 2015
    Date of Patent: October 31, 2017
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Blake Konrardy, Scott T. Christensen, Gregory Hayward, Scott Farris
  • Patent number: 9802483
    Abstract: A driver of a vehicle applies an actuation force to an accelerator device such as an accelerator pedal or a twist-grip throttle of the vehicle to deflect the accelerator device to an actual deflection angle (?act), which is detected. A restoring force acts on the accelerator device opposite the actuation force. An electronic controller determines a nominal deflection angle (?nom) to which the accelerator device shall be deflected, based on inputs such as an actual speed of the subject vehicle, a relative speed of the subject vehicle relative to a leading vehicle driving ahead of the subject vehicle, an actual distance of the subject vehicle to the leading vehicle, and a nominal distance at which the subject vehicle shall follow the leading vehicle. The restoring force on the accelerator device is modulated as a function of the difference between the actual deflection angle (?act) and the nominal deflection angle (?nom).
    Type: Grant
    Filed: December 14, 2015
    Date of Patent: October 31, 2017
    Assignee: Conti Temic microelectronic GmbH
    Inventors: Frank Drews, Carmelo Leone
  • Patent number: 9801517
    Abstract: Some embodiments provide apparatuses and methods useful to providing control over movement of motorized transport units. In some embodiments, an apparatus providing control over movement of motorized transport units at a shopping facility comprises: a central computer system comprising: a transceiver; a control circuit; a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: obtain, from one or more of the communications received from the motorized transport unit, route condition information comprising information corresponding to an intended route of travel; obtain additional route condition information detected by one or more detectors external to the motorized transport unit; detect an object affecting the intended route of travel; identify an action to be taken by the motorized transport unit with respect to the detected object; and communicate one or more instructions.
    Type: Grant
    Filed: March 4, 2016
    Date of Patent: October 31, 2017
    Assignee: Wal-Mart Stores, Inc.
    Inventors: Donald R. High, Michael D. Atchley, Karl Kay, Robert C. Taylor, David C. Winkle
  • Patent number: 9805603
    Abstract: The present invention provides an obstacle detecting system and method. The obstacle detecting system includes: a transmitting unit which emits a laser signal; a MEMS scanning mirror which scans detecting regions set at an angle of view at which obstacles in front of a vehicle are detected and a cut-in situation when a vehicle in a next lane suddenly cuts in is detected, and divides the detecting regions into a plurality of regions to scan the plurality of regions at different point intervals; a receiving unit which receives the laser signal transmitted from the MEMS scanning mirror to detect information on an object detected in the detecting regions; and a processing unit which detects the obstacles and the cut-in situation through the information detected in the receiving unit to issue an alarm or transmit a braking command.
    Type: Grant
    Filed: September 3, 2015
    Date of Patent: October 31, 2017
    Assignee: Hyundai Mobis Co., Ltd.
    Inventors: Young shin Kim, Won gyum Kim, Soo youn Ryu
  • Patent number: 9798002
    Abstract: An object detection apparatus mounted in a vehicle, includes a first domain definition unit, a second domain definition unit, and a determination unit. The first domain definition unit defines a first object domain including a first detection point which is indicative of a position of a first object detected by using a vehicle-mounted radar. The second domain definition unit defines a second object domain including a second detection point which is indicative of a position of a second object detected on the basis of an image captured by a vehicle-mounted monocular camera. The determination unit determines whether or not an overlapping domain of the first and second object domains is present, and when it is determined that an overlapping domain of the first and second object domains is present, then determines that the first and second objects are the same.
    Type: Grant
    Filed: November 21, 2013
    Date of Patent: October 24, 2017
    Assignee: DENSO CORPORATION
    Inventor: Takahiro Baba
  • Patent number: 9789904
    Abstract: The invention relates to a maneuvering system (2) for the automated maneuvering of a motor vehicle (1), including an on-board control device (3) which is designed to provide control signals (S) to a drive device and/or steering device (5) of the motor vehicle (1) and thereby to carry out a maneuvering operation of the motor vehicle (1) automatically, and including a portable communication device (4) which is operable by a user, which is designed to communicate wirelessly with the on-board control device (3) and thereby to enable and/or interrupt the maneuvering operation as a function of an input by the user at an operating device (8) of the portable communication device (4).
    Type: Grant
    Filed: April 10, 2013
    Date of Patent: October 17, 2017
    Assignee: VALEO Schalter und Sensoren GmbH
    Inventors: Nicolas Jecker, Oliver Grimm, Vsevolod Vovkushevsky
  • Patent number: 9785846
    Abstract: A method for quantifying classification confidence of obstructions applied to a perception mergence system of a vehicular computer in a vehicle. The method includes steps of: the vehicular computer receiving obstruction information of at least obstruction, image information corresponding to the obstruction information and vehicle body signals, and using a classifier to classify them; calculating a detection result of each range sensor to calculate a existence confidence; using the existence confidences and precision of the classifier to calculate a classification belief assignment of each range sensor corresponding to each obstruction; performing mergence calculation on the classification belief assignments to respectively quantify an obstruction classification confidence of all the range sensor corresponding to each obstruction; and performing a classification ineffectiveness filtering mechanism to exclude the obstruction whose obstruction classification confidence less than a predetermined value.
    Type: Grant
    Filed: December 23, 2015
    Date of Patent: October 10, 2017
    Assignee: AUTOMOTIVE RESEARCH & TEST CENTER
    Inventors: Ping-Min Hsu, Ming-Hung Li
  • Patent number: 9783064
    Abstract: A method for operating a recuperation brake of a motor vehicle is disclosed. First, a future operating intensity of the recuperation brake is estimated for a section of route to be travelled on by the motor vehicle based on an input which characterizes the driving style of the section of route to be travelled on. In addition, a maximum slip-free vehicle braking power for the section of route is estimated as a function of the input. In addition, the braking power of the recuperation brake is set to a setpoint braking power which is not greater than the maximum vehicle braking power for the section of route, and finally the recuperation brake is activated on the section of route to be travelled on with the setpoint braking power. In addition, a recuperation brake for carrying out the method is described.
    Type: Grant
    Filed: November 27, 2013
    Date of Patent: October 10, 2017
    Assignee: CONTINENTAL AUTOMOTIVE GMBH
    Inventors: Johannes Moritz Maiterth, Michael Wegerer
  • Patent number: 9786187
    Abstract: A transportation network is provided that utilizes autonomous vehicles (e.g., unmanned aerial vehicles) for identifying, acquiring, and transporting items between network locations without requiring human interaction. A travel path for an item through the transportation network may include a passing of the item from one autonomous vehicle to another or otherwise utilizing different autonomous vehicles for transporting the item along different path segments (e.g., between different network locations). Different possible travel paths through the transportation network may be evaluated, and a travel path for an item may be selected based on transportation factors such as travel time, cost, safety, etc., which may include consideration of information regarding current conditions (e.g., related to network congestion, inclement weather, etc.). Autonomous vehicles of different sizes, carrying capacities, travel ranges, travel speeds, etc.
    Type: Grant
    Filed: June 9, 2015
    Date of Patent: October 10, 2017
    Assignee: Amazon Technologies, Inc.
    Inventors: Avi Bar-Zeev, Brian C. Beckman, Daniel Buchmueller, Steven Gregory Dunn, Gur Kimchi
  • Patent number: 9776509
    Abstract: A method and an apparatus are described for adaptive cruise control in a road vehicle, as well as a road vehicle including such an apparatus. One of four control regions is determined and a set of control parameters chosen in dependence of the detected control region. An acceleration command is provided, based on the chosen set of control parameters, using a sliding surface and a control law that ensures convergence to the sliding surface.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: October 3, 2017
    Assignee: Volvo Car Corporation
    Inventors: Stefan Solyom, Oskar Nordin
  • Patent number: 9777647
    Abstract: A method for controlling a creep torque of a motor-driven vehicle includes a gradient calculating step of calculating a gradient of a traveling road, and a time constant calculating step of calculating a time constant of a filter using the gradient, a preset basic creep torque, and a sliding speed limiting value. A variable controlling step substitutes the calculated time constant for the time constant of the filter, inputs the basic creep torque to the filter, and controls the motor using a torque value output from the filter as a demanded torque.
    Type: Grant
    Filed: October 11, 2013
    Date of Patent: October 3, 2017
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Jae Won Jung, Kang Sik Jeon
  • Patent number: 9779626
    Abstract: Disclosed is a vehicle, and an apparatus and method for controlling the vehicle. The vehicle includes a line information obtainer configured to obtain information regarding a line; a vehicle controller configured to determine whether the vehicle is moving out of a lane based on the information regarding the line, and to determine a level of danger that indicates an extent of danger to the vehicle while the vehicle is changing the lane, based on at least one of a condition around the vehicle or a behavior of the vehicle while the vehicle is moving out of the lane; and a warning unit configured to provide different levels of alert to a driver based on the level of danger.
    Type: Grant
    Filed: November 20, 2015
    Date of Patent: October 3, 2017
    Assignee: Hyundai Motor Company
    Inventor: Kwang Won Seo
  • Patent number: 9753121
    Abstract: A radar sensing system includes at least one transmitter, at least one receiver and a processor. The at least one transmitter transmits a power shaped RF signal. The transmitted RF signal decreases in power over time. The at least one receiver receives a reflected RF signal. The reflected RF signal is the transmitted RF signal reflected from targets in the environment. The reflected RF signal is down-converted and the result provided to the processor. The processor samples the down-converted reflected RF signal during a plurality of time intervals to produce a sampled stream. The different time intervals of the plurality of time intervals will contain different signal levels of RF signals reflected from the targets. The processor also selects samples in the sampled stream over a selected time interval of the plurality of time intervals that is free of RF signals reflected off of near targets.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: September 5, 2017
    Assignee: UHNDER, INC.
    Inventors: Curtis Davis, Jean P. Bordes, Monier Maher, Wayne Stark, Raghunath K. Rao
  • Patent number: 9738224
    Abstract: A vision system suitable for use for a vehicle includes a plurality of exterior viewing cameras disposed at the vehicle and having respective fields of view exterior of the vehicle. A display system is operable to display images for viewing by the driver of the vehicle. Responsive at least in part to determination that the gaze direction of the driver of the vehicle is towards a non-transparent portion of the vehicle, the display system displays an image derived from image data captured by at least one of the plurality of exterior viewing cameras to display a representation of the driver's view as it would be through the non-transparent portion of the vehicle. The gaze direction of the driver may be determined by a monitoring system that processes image data captured by an interior viewing camera having a field of view that encompasses the head of the driver.
    Type: Grant
    Filed: March 7, 2016
    Date of Patent: August 22, 2017
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Achim Gieseke, Michael Biemer
  • Patent number: 9733350
    Abstract: Methods and systems are provided for controlling a radar system of a vehicle. One or more transmitters are configured to transmit radar signals. A plurality of receivers are configured to receive return radar signals after the transmitted radar signals are deflected from an object proximate the vehicle. A processor is coupled to the plurality of receivers, and is configured to generate a plurality of feature vectors based on the returned radar signals and generate a three dimensional representation of the object using the plurality of feature vectors.
    Type: Grant
    Filed: July 3, 2014
    Date of Patent: August 15, 2017
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Inna Stainvas Olshansky, Igal Bilik
  • Patent number: 9731713
    Abstract: A system for controlling an autonomous vehicle having cameras for obtaining image data of neighboring vehicles in a proximity of the autonomous vehicle and for identifying physical characteristics of the neighboring vehicles, including makes, models, and trims of neighboring vehicles, colors of the neighboring vehicles, and exposed cargo being carried by the neighboring vehicles. The system maps the identified physical characteristics into predicted potential on-road events in the proximity of the autonomous vehicle, and makes driving decisions based on the predicted potential on-road event.
    Type: Grant
    Filed: September 10, 2014
    Date of Patent: August 15, 2017
    Assignee: VOLKSWAGEN AG
    Inventor: Hiroshi Horii
  • Patent number: 9731716
    Abstract: A transporter vehicle includes: a traveling device changing a traveling direction so that one state of a linear movement state and a non-linear movement state changes to the other state thereof; a setting unit setting a determination value related to a change amount in the traveling direction from the linear movement state; a collision prevention system including an object detection device detecting an object in front of the vehicle and a collision determination unit determining a possibility of a collision with the object based on a detection result of the object detection device, the collision prevention system performing a process for reducing damage caused by the collision with the object; and an invalidation unit invalidating at least a part of a process of the collision prevention system based on the determination value and a detection value of the change amount in the traveling direction from the linear movement state.
    Type: Grant
    Filed: July 30, 2014
    Date of Patent: August 15, 2017
    Assignee: Komatsu Ltd.
    Inventors: Shigeru Ohsugi, Shinji Mitsuta
  • Patent number: 9731719
    Abstract: A vehicle control apparatus is mounted to an own vehicle and controls the own vehicle such that an inter-vehicle distance between a preceding vehicle and the own vehicle becomes a reference distance. The vehicle control apparatus acquires passing suitability information indicating whether or not the own vehicle is able to pass the preceding vehicle. When the own vehicle is not able to pass the preceding vehicle, the vehicle control apparatus corrects the inter-vehicle distance by adding a correction distance to a reference distance.
    Type: Grant
    Filed: June 2, 2015
    Date of Patent: August 15, 2017
    Assignee: DENSO CORPORATION
    Inventors: Hiroaki Niino, Shotaro Fukuda, Takahiro Narita, Masao Oooka
  • Patent number: 9725083
    Abstract: The invention provides a speed control system and method for a hybrid electric vehicle, the vehicle having an engine (121), an electric machine (123) and a mode switch (169), to allow switching between a first speed control mode (EV) and a second speed control mode (HEV). When the control system is in the first mode and at least one of a prescribed one or more conditions is met, e.g. a rate of acceleration demanded by the driver or a difference between a target vehicle speed and a current vehicle speed exceeds a respective prescribed threshold value, the system is operable to not limit operation of the vehicle to the EV mode.
    Type: Grant
    Filed: December 10, 2013
    Date of Patent: August 8, 2017
    Assignee: Jaguar Land Rover Limited
    Inventors: Clement Dextreit, Mark Ellis, Matt Hancock
  • Patent number: 9718661
    Abstract: A load handling system for a vehicle includes a set of forks that concurrently supports two or more pallets including a first pallet and a second pallet linearly positioned along a length of the forks, and a lifting system to raise and lower the forks. A traction system moves the vehicle in a direction of travel associated with withdrawing the forks from the pallets. Additionally, an actuation device generates an activation signal in response to being actuated by an operator, and a vehicle controller places the vehicle in an automated mode of operation in response to receiving the activation signal. In the automated mode of operation, a front end of the forks moves from the second pallet to the first pallet, and the first pallet is raised while the second pallet remains on a transport surface. The first pallet is then spaced apart from the second pallet by a predetermined distance and then lowered to the transport surface.
    Type: Grant
    Filed: July 6, 2016
    Date of Patent: August 1, 2017
    Assignee: HYSTER-YALE GROUP, INC.
    Inventor: Matthew K. Hoffman
  • Patent number: 9707966
    Abstract: Methods and systems for determining instructions for pulling over an autonomous vehicle are described. An example method may involve identifying a region of a road ahead of the autonomous vehicle based on lane boundaries of the road, one or more road boundaries indicating an edge of the road, and a size of the autonomous vehicle. The method may also involve determining a braking profile for reducing the speed of the autonomous vehicle based on the region and a speed of the autonomous vehicle. The method may also involve determining, based on the braking profile, a trajectory such that the autonomous vehicle will travel within the region while reducing the speed of the autonomous vehicle. The method may further involve determining instructions for pulling over and stopping the autonomous vehicle in the region in accordance with the determined trajectory and storing the instructions in a memory accessible by a computing device.
    Type: Grant
    Filed: November 9, 2016
    Date of Patent: July 18, 2017
    Assignee: Waymo LLC
    Inventors: Joshua Seth Herbach, Nathaniel Fairfield
  • Patent number: 9709678
    Abstract: A laser radar device includes: a projector projecting measuring light to a forward direction of a vehicle multiple times during a predetermined detection period; light receiving elements receiving reflected light of the measuring light from detection areas having different directions in a horizontal direction; a measurement section selecting at least one of light reception signals from the light receiving elements and measuring a light reception value by sampling the selected light reception signal; an integrator integrating the light reception values of the light reception signals from the identical light receiving element at an identical sampling clock time; a detector detecting an obstacle in each detection period based on the integrated light reception value; and a sensitivity controller increasing the number of times of integrating the light reception values of at least a part of the light receiving elements, under predetermined conditions.
    Type: Grant
    Filed: January 13, 2015
    Date of Patent: July 18, 2017
    Assignee: OMRON AUTOMOTIVE ELECTRONICS CO., LTD.
    Inventor: Yoshio Matsuura
  • Patent number: 9710710
    Abstract: A system for localizing an autonomous vehicle to a target area can include a position indicator adapted for association with the vehicle in a three dimensional configuration, a detection device configured to detect the position indicator, a computation device configured to compute a position of the vehicle based on the detected position indicator and the relationship of the configuration to the vehicle orientation, a transmitter configured to receive information from the computation device and produce a signal carrying the information, a receiver configured to receive the signal from the transmitter and filter the information therefrom, and a control system configured for association with and control of one or more directional control components of the vehicle, the control being based on the information received from the receiver relating to localizing the vehicle to the target area. A method of for localizing a vehicle to a target area is also disclosed.
    Type: Grant
    Filed: August 11, 2015
    Date of Patent: July 18, 2017
    Assignee: Xollai Inc.
    Inventors: Robert S. Malecki, Lue Her, Ryan S. Thompson, Anthony H. Giang