Relative Distence Between Vehicles (e.g., Collision Alert) Patents (Class 340/903)
  • Patent number: 10929695
    Abstract: An obstacle detection apparatus includes a distance measuring sensor, an imaging section, and a control section. Based on a reception result of reception waves obtained by the distance measuring sensor, the control section acquires an estimated reflection position in an illuminated region already irradiated with search waves. Based on the estimated reflection position, the control section recognizes an outer shape of an obstacle. Based on an imaging result obtained by the imaging section, the control section performs image recognition of the obstacle. Based on a recognition result of the outer shape of the obstacle and a result of the image recognition, the control section acquires a relative position, with respect to a vehicle, of a portion of the obstacle in an image captured by the imaging section included in a non-irradiated region ahead of the illuminated region in a vehicle traveling direction.
    Type: Grant
    Filed: September 26, 2019
    Date of Patent: February 23, 2021
    Assignee: DENSO CORPORATION
    Inventors: Mitsuyasu Matsuura, Hideki Otsuka, Hirohiko Yanagawa
  • Patent number: 10928825
    Abstract: A method, device and system for controlling a vehicle passing through an intersection are provided. The method includes generating a reference running track based on coordinate of first road from which the vehicle is to leave and coordinate of second road into which the vehicle is to enter. The first road and the second road intersect at the intersection through which the vehicle is to pass. The method further includes generating, in real time, a preview track of vehicle based on coordinate of centroid of the vehicle, course of the vehicle and coordinate of the second road, comparing the preview track with the reference running track and acquiring running speed limit and turning angle of the vehicle based on the comparing, and controlling the vehicle to run at the turning angle and a running speed less than or equal to the running speed limit.
    Type: Grant
    Filed: April 17, 2018
    Date of Patent: February 23, 2021
    Assignee: NEUSOFT REACH AUTOMOTIVE TECHNOLOGY (SHANGHAI) CO., LTD.
    Inventors: Wei Liu, Wei Liu, Zuotao Ning
  • Patent number: 10914442
    Abstract: A vehicle headlight device includes: a first illuminating unit for reflecting, at a first mirror that rotatingly operates, laser light that has exited from a laser light source and making the laser light into scanning light, and a illuminating the scanning light toward a first illumination region that is in front of a vehicle; second illuminating unit for reflecting, at a second mirror that is an aggregate of plural micro mirrors whose angles can be changed, visible light that has exited from a visible light source and making the visible light into information displaying light, and illuminating the information displaying light toward a second illumination region that is in front of the vehicle; and controlling unit for controlling turning-off and turning-on of the laser light source, rotating operation of the first mirror, and changing of the angles of the micro mirrors at the second mirror.
    Type: Grant
    Filed: October 12, 2018
    Date of Patent: February 9, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Fumihiko Mouri, Takuya Kitazono
  • Patent number: 10906550
    Abstract: The present invention provides a vehicle control apparatus capable of traveling a vehicle by automated driving, comprising a state detection unit configured to detect a state of an occupant in the vehicle, and a control unit configured to set a traveling mode of automated driving in accordance with a change in the state of the occupant detected by the state detection unit.
    Type: Grant
    Filed: June 29, 2018
    Date of Patent: February 2, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Masamitsu Tsuchiya, Yosuke Sakamoto, Kazuma Ohara
  • Patent number: 10906536
    Abstract: Determining yaw parameter(s) (e.g., at least one yaw rate) of an additional vehicle that is in addition to a vehicle being autonomously controlled, and adapting autonomous control of the vehicle based on the determined yaw parameter(s) of the additional vehicle. For example, autonomous steering, acceleration, and/or deceleration of the vehicle can be adapted based on a determined yaw rate of the additional vehicle. In many implementations, the yaw parameter(s) of the additional vehicle are determined based on data from a phase coherent Light Detection and Ranging (LIDAR) component of the vehicle, such as a phase coherent LIDAR monopulse component and/or a frequency-modulated continuous wave (FMCW) LIDAR component.
    Type: Grant
    Filed: October 29, 2018
    Date of Patent: February 2, 2021
    Assignee: Aurora Innovation, Inc.
    Inventors: Warren Smith, Ethan Eade, Sterling J. Anderson, James Andrew Bagnell, Bartholomeus C. Nabbe, Christopher Paul Urmson
  • Patent number: 10902290
    Abstract: A method for training an auto labeling device performing verification using uncertainty scores of auto-labeled labels is provided. The method includes steps of: a learning device (a) (i) inputting first unlabeled images into a feature pyramid network (FPN) to generate first pyramid feature maps, (ii) allowing an object detection network to generate first bounding boxes, and (iii) training the object detection network and the FPN; (b) (i) allowing the FPN to generate second pyramid feature maps and allowing the object detection network to generate second bounding boxes, (ii) instructing an ROI pooling layer to generate pooled feature maps and inputting the pooled feature maps into at least one of a first classifier to generate first class scores and first box uncertainty scores, and a second classifier to generate second class scores and second box uncertainty scores and (iii) training one of the first classifier and the second classifier.
    Type: Grant
    Filed: August 4, 2020
    Date of Patent: January 26, 2021
    Assignee: SUPERB AI CO., LTD.
    Inventor: Kye-Hyeon Kim
  • Patent number: 10901078
    Abstract: A monitoring device to monitor traffic behind and on both sides of a vehicle includes a radar detecting a traveling object in a pair of first detection areas that are defined behind and on left and right sides, respectively, of the vehicle and in a pair of second detection areas that are defined behind and on the left and right sides, respectively, of the vehicle, the second detection area having a width in a vehicle width direction narrower than a width of the first detection area; a detector detecting a moving direction in which the vehicle is moving and other moving indicators to find a moving status of the vehicle; and a processor causing the radar to switch to the second detection areas when the detected moving status indicates that the moving direction of the vehicle is straight ahead and at least one other moving indicator satisfies a prescribed condition.
    Type: Grant
    Filed: May 9, 2018
    Date of Patent: January 26, 2021
    Assignees: FURUKAWA ELECTRIC CO., LTD., FURUKAWA AUTOMOTIVE SYSTEMS INC.
    Inventors: Yasushi Aoyagi, Nobuyuki Shimizu
  • Patent number: 10890648
    Abstract: A method of generating an alignment matrix for a camera-radar system includes: receiving radar data originated by a radar subsystem and representative of an area of interest within a field of view for the radar subsystem; receiving image data originated by a camera subsystem and representative of the area of interest within a field of view for the camera subsystem; processing the radar data to detect features within the area of interest and to determine a reflected radar point with three dimensions relating to a camera-radar system; processing the image data to detect features within the area of interest and to determine a centroid with two dimensions relating to the camera-radar system; and computing an alignment matrix for radar and image data from the camera-radar system based on a functional relationship between the three dimensions for the reflected radar point and the two dimensions for the centroid.
    Type: Grant
    Filed: September 17, 2015
    Date of Patent: January 12, 2021
    Assignee: Texas Instruments Incorporated
    Inventors: Vikram VijayanBabu Appia, Dan Wang
  • Patent number: 10883686
    Abstract: A vehicle headlight device includes: a first illuminating unit for reflecting, at a first mirror that rotatingly operates, laser light that has exited from a laser light source and making the laser light into scanning light, and a illuminating the scanning light toward a first illumination region that is in front of a vehicle; second illuminating unit for reflecting, at a second mirror that is an aggregate of plural micro mirrors whose angles can be changed, visible light that has exited from a visible light source and making the visible light into information displaying light, and illuminating the information displaying light toward a second illumination region that is in front of the vehicle; and controlling unit for controlling turning-off and turning-on of the laser light source, rotating operation of the first mirror, and changing of the angles of the micro mirrors at the second mirror.
    Type: Grant
    Filed: October 12, 2018
    Date of Patent: January 5, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Fumihiko Mouri, Takuya Kitazono
  • Patent number: 10872143
    Abstract: Aspects of the disclosure provide systems and methods for recognizing an assigned passenger. For instance, dispatching instructions to pick up a passenger at a pickup location are received. The instructions include authentication information for authenticating a client computing device associated with the passenger. A vehicle is maneuvered in an autonomous driving mode towards the pickup location. The client device is then authenticated. After authentication, a set of pedestrians within a predetermined distance of the vehicle are identified from sensor information generated by a sensor of the vehicle and location information is received over a period of time from the client device. The received location information is used to estimate a velocity of the passenger. This estimated velocity is used to identify a subset of set of pedestrians that is likely to be the passenger. The vehicle is stopped to allow the passenger to enter the vehicle based on the subset.
    Type: Grant
    Filed: December 23, 2019
    Date of Patent: December 22, 2020
    Assignee: Waymo LLC
    Inventors: John Wesley Dyer, Luis Torres, Michael Epstein, Yu-Hsin Chen
  • Patent number: 10864921
    Abstract: An onboard apparatus includes an image capturing unit configured to capture a periphery of a vehicle, a display unit configured to display an image captured by the image capturing unit, and a notification unit configured to notify an occupant of information. The notification unit is configured to notify the occupant that the vehicle is in a startable state on the condition that, at least, display of the captured image has been started by the display unit.
    Type: Grant
    Filed: November 6, 2019
    Date of Patent: December 15, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Naoyuki Urushizaki, Kenta Takenaka
  • Patent number: 10864906
    Abstract: An apparatus includes a memory, and circuitry which, in operation, performs operations including, storing, in the memory, an object occurrence map defining an occurrence area where there is a possibility that an object appears, detecting the object included in a captured image of a scene seen in a running direction of a vehicle, switching a vehicle drive mode, based on a result of the detection of the object and the object occurrence map, from an automatic drive mode in which the vehicle is automatically driven to a manual drive mode in which the vehicle is driven manually by a driver, and controlling driving of the vehicle in the switched manual drive mode.
    Type: Grant
    Filed: March 1, 2017
    Date of Patent: December 15, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventors: Ryota Fujimura, Kazuki Kozuka, Tetsuji Fuchikami
  • Patent number: 10850732
    Abstract: An automated speed control system includes a ranging-sensor, a camera, and a controller. The ranging-sensor detects a lead-speed of a lead-vehicle traveling ahead of a host-vehicle. The camera detects an object in a field-of-view. The controller is in communication with the ranging-sensor and the camera. The controller is operable to control the host-vehicle. The controller determines a change in the lead-speed based on the ranging-sensor. The controller reduces a host-speed of the host-vehicle when the lead-speed is decreasing, no object is detected by the camera, and while a portion of the field-of-view is obscured by the lead-vehicle.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: December 1, 2020
    Assignee: Aptiv Technologies Limited
    Inventor: Premchand Krishna Prasad
  • Patent number: 10852430
    Abstract: An object detection device includes: a transceiver section that transmits an ultrasonic wave and receives an ultrasonic wave including a reflected wave of the transmitted ultrasonic wave, and outputs a signal in accordance with a wavelength of the received ultrasonic wave; a frequency control section that changes a frequency of the ultrasonic wave transmitted by the transceiver section to a plurality of frequencies different from a driving frequency used to detect the distance from the object; and a fault determination section that determines whether a fault occurs in the function of detecting the distance from the object due to a value of an environment temperature or a wavelength of the ultrasonic wave transmitted by the transceiver section, based on a value of the signal outputted from the transceiver section when the transceiver section transmits the ultrasonic wave at a selected one of the frequencies different from the driving frequency.
    Type: Grant
    Filed: October 22, 2019
    Date of Patent: December 1, 2020
    Assignee: DENSO CORPORATION
    Inventors: Tetsuya Aoyama, Yu Koyama, Dai Kondo
  • Patent number: 10843626
    Abstract: A warning system for detecting approaching vehicle and method thereof are provided. The system includes a detection unit detecting a relative distance with respect to the approaching vehicle and a driving path of the approaching vehicle; a storage unit storing a warning information; and a processing unit receiving the detection signal to acquire the current time to collision and the current driving path. When the time to collision is equal to or shorter than the predetermined time to collision, and the driving path falls in the warning area, and the driving path fulfills the confirmation condition, the processing unit sends a warning signal. Therefore, a potentially dangerous approaching vehicle is accurately judged, and the warning is correctly sent.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: November 24, 2020
    Assignee: CUBTEK INC.
    Inventors: San-Chuan Yu, Cheng-Foo Chen, Chi-Yu Hung, Jyong Lin, Yu-Jen Lin
  • Patent number: 10829129
    Abstract: A vehicle control system includes an external environment recognition unit configured to recognize an external environment situation, an automated driving control unit configured to perform automated driving for automatically controlling at least one of acceleration/deceleration and steering of a subject vehicle, the automated driving control unit executing handover to switch a driving mode from an automated driving mode to a manual driving mode on the basis of the external environment situation recognized by the external environment recognition unit, a handover prediction unit configured to predict a possibility of occurrence of the handover on the basis of the recognized external environment situation, an output unit configured to output information, and an interface control unit configured to control the output unit so that information for prompting the vehicle occupant to prepare for the handover is output when the handover prediction unit predicts that the possibility of occurrence of the handover is hig
    Type: Grant
    Filed: April 18, 2016
    Date of Patent: November 10, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yoshitaka Mimura, Kohei Okimoto, Naotaka Kumakiri
  • Patent number: 10830893
    Abstract: A traveling apparatus has a mounted obstacle detection device including a plurality of obstacle detection units configured to detect an obstacle and a control unit configured to control detection by the obstacle detection units. The obstacle detection device includes, as the obstacle detection units, an ultrasonic sensor and a LIDAR sensor. The LIDAR sensor is configured to be capable of detecting an obstacle within a detection range for the ultrasonic sensor and detecting an obstacle within a range which extends farther than the detection range for the ultrasonic sensor. The control unit controls detection such that, if a detection range for either one of the ultrasonic sensor and the LIDAR sensor becomes undetectable, the other sensor complements the undetectable range.
    Type: Grant
    Filed: March 1, 2018
    Date of Patent: November 10, 2020
    Assignee: SHARP KABUSHIKI KAISHA
    Inventor: Tatsuro Kuroda
  • Patent number: 10829050
    Abstract: A multi-purpose exterior mirror module for a vehicle comprising an image sensor configured to capture image data and a reflective surface disposed on a side portion. A housing is configured to support the reflective surface and the image sensor in connection with the vehicle. An actuator is configured to adjust an orientation of the reflective surface about an adjustment axis. A controller is in communication with the image sensor and the actuator. The controller is configured to control the actuator to adjust an orientation of the reflective surface about the adjustment axis.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: November 10, 2020
    Assignee: GENTEX CORPORATION
    Inventor: Michael A. Gross
  • Patent number: 10814892
    Abstract: Inter-vehicle communications for avoiding rear collision of rail vehicles on a railroad that includes, for example, a collision avoidance system. The collision avoidance system may comprise an end-of-train device and a V-aware unit located on different vehicles. The two devices may be configured to wirelessly communicate with each other, and then detect each other's presence by estimating a distance between them. Warnings may be issued to respective operators against a collision hazard when the distance drops to or below a pre-determined threshold.
    Type: Grant
    Filed: April 6, 2018
    Date of Patent: October 27, 2020
    Assignee: HARSCO TECHNOLOGIES LLC
    Inventor: Peter Michael Bartek
  • Patent number: 10796206
    Abstract: A method for integrating images from vehicles performing a cooperative driving is provided. The method includes steps of: a main driving image integrating device on one main vehicle (a) inputting one main driving image into a main object detector to (1) generate one main feature map by applying convolution operation via a main convolutional layer, (2) generate main ROIs via a main region proposal network, (3) generate main pooled feature maps by applying pooling operation via a main pooling layer, and (4) generate main object detection information on the main objects by applying fully-connected operation via a main fully connected layer; (b) inputting the main pooled feature maps into a main confidence network to generate main confidences; and (c) acquiring sub-object detection information and sub-confidences from sub-vehicles, and integrating the main object detection information and the sub-object detection information using the main & the sub-confidences to generate object detection result.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: October 6, 2020
    Assignee: StradVision, Inc.
    Inventors: Kye-Hyeon Kim, Yongjoong Kim, Hak-Kyoung Kim, Woonhyun Nam, Sukhoon Boo, Myungchul Sung, Dongsoo Shin, Donghun Yeo, Wooju Ryu, Myeong-Chun Lee, Hyungsoo Lee, Taewoong Jang, Kyungjoong Jeong, Hongmo Je, Hojin Cho
  • Patent number: 10795155
    Abstract: A projection display device includes an image data control unit that controls image data to be input to a light modulation unit, and a situation determination unit that determines, in a state where an automated driving mode is set, whether or not a situation has occurred where an operation device mounted in a vehicle and used for driving needs to be operated. When it is determined that the situation has occurred where the operation device needs to be operated, the image data control unit inputs, to a driving unit, first image data for displaying images corresponding to a plurality of operation devices in a positional relationship corresponding to an arrangement of the plurality of operation devices and displaying, in an emphasized manner, the image corresponding to the operation device that needs to be operated, and displays an operation assisting image that is based on the first image data.
    Type: Grant
    Filed: February 25, 2019
    Date of Patent: October 6, 2020
    Assignee: FUJIFILM Corporation
    Inventor: Koudai Fujita
  • Patent number: 10775509
    Abstract: 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: Grant
    Filed: September 19, 2018
    Date of Patent: September 15, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Codrin Cionca, Mostafa Parchami, Zhen Zhao, Juan Enrique Castorena Martinez
  • Patent number: 10776735
    Abstract: A risk information processing method is used in a risk information processing system that manages a degree of risk at a target spot at which a moving object is located. The method includes: receiving sensor data collected at each of two spots different from the target spot; determining a degree of risk of an event at each of the two spots from the sensor data collected at each of the two spots; storing, as risk information the determined degree of risk associated with each of the two spots; estimating first risk information associated with the target spot without sensor data of first event at the target spot, by using the stored risk information, the first risk information being a degree of risk of the first event at the target spot; and outputting information for the target spot based on the estimated first risk information.
    Type: Grant
    Filed: November 12, 2019
    Date of Patent: September 15, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventors: Hiroshi Amano, Kimio Minami, Toshihisa Nakano, Tohru Wakabayashi, Takako Hirose
  • Patent number: 10773640
    Abstract: The present invention provides a method and an apparatus for dynamically controlling the luminance of a tail light of a vehicle tail lamp in response to a change in the difference of speed between a vehicle and a vehicle therebehind, and for preventing a collision between the traveling vehicles.
    Type: Grant
    Filed: August 15, 2017
    Date of Patent: September 15, 2020
    Inventor: Gyeongjune Park
  • Patent number: 10768298
    Abstract: A sensing system for a vehicle includes a first sensor at a forward portion of a side of the vehicle such that a principal axis of the first sensor's zone of sensing is rearward and sideward and at an angle relative to the body, and a second sensor at a rearward portion of the side of the vehicle such that a principal axis of the second sensor's zone of sensing is forward and sideward and at an angle relative to the body. Data sensed by the sensors when each sensor senses with at least two zones of sensing are communicated to a control, which determines the presence of one or more objects exterior the vehicle and within the zones of sensing of at least one of the sensors.
    Type: Grant
    Filed: June 12, 2017
    Date of Patent: September 8, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Helmut A. Wodrich, Tzu-Nan Chen, Chien Wen Lai, Jerome Petit
  • Patent number: 10766412
    Abstract: Systems and methods for notifying other road users of a change in speed of a vehicle are disclosed herein. One embodiment receives sensor data from one or more sensors; detects, from the sensor data, one or more other road users; determines a lag time, relative to a commencement of the change in speed of the vehicle, that coincides with an estimated moment at which at least one of the one or more other road users perceives the change in speed of the vehicle; and outputs a signal from the vehicle in accordance with the lag time to notify the at least one of the one or more other road users of the change in speed of the vehicle.
    Type: Grant
    Filed: September 12, 2019
    Date of Patent: September 8, 2020
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventors: Benjamin P. Austin, Joshua E. Domeyer, John K. Lenneman
  • Patent number: 10759477
    Abstract: A driving support apparatus for an own vehicle includes a travel trajectory obtaining unit configured to obtain a preceding vehicle trajectory which is a travel trajectory of a preceding vehicle, and a control unit configured to perform a follow-up steering control for changing a steering angle of the own vehicle in such a manner that the vehicle travels along a target traveling line determined based on the preceding vehicle trajectory. The control unit is configured to, when a first distance condition and a manual steering condition are both satisfied while the follow-up steering control is being performed, stop the follow-up steering control.
    Type: Grant
    Filed: September 27, 2018
    Date of Patent: September 1, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hirohito Ide
  • Patent number: 10761535
    Abstract: Presented are systems and methods for extracting lane-level information of designated road segments by mining vehicle dynamics data traces.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: September 1, 2020
    Assignee: GM Global Technology Operations LLC
    Inventors: Shu Chen, Fan Bai, Donald K. Grimm, Jinzhu Chen, Bo Yu, David E. Bojanowski
  • Patent number: 10753138
    Abstract: A vehicular collision avoidance system includes a remote communicator disposed exterior and remote from the vehicle and operable to communicate information regarding location and motion of the remote communicator relative to the vehicle. A receiver at the vehicle receives a communication from the remote communicator, and a control at the vehicle includes a processor that processes information communicated by the remote communicator and received at the receiver. The control, responsive to processing communicated information, determines the location and motion of the remote communicator relative to the vehicle. A side sensing device is disposed at a side of the vehicle and operable to capture data, which is processed to determine approach of the remote communicator to the vehicle. Data captured by the side sensing device and information communicated by the remote communicator are processed at the control to determine a potential collision between the remote communicator and the vehicle.
    Type: Grant
    Filed: June 10, 2019
    Date of Patent: August 25, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Krishna Koravadi
  • Patent number: 10745008
    Abstract: A driving support device is mounted to a vehicle. The driving support device includes an object detection unit that detects an object moving in a direction crossing the traveling direction of the vehicle, a collision prediction unit, a support execution unit, an acceleration calculation unit, and a prohibition unit. The collision prediction unit predicts a collision between the object detected by the object detection unit and the vehicle. When the collision prediction unit predicts a collision between the object and the vehicle, the support execution unit performs driving support for reducing the risk of a collision of the vehicle. The acceleration calculation unit calculates the acceleration of the object. When the calculated acceleration has become more negative than a negative threshold, the prohibition unit prohibits the support execution unit from performing the driving support with respect to the object.
    Type: Grant
    Filed: December 23, 2016
    Date of Patent: August 18, 2020
    Assignee: DENSO CORPORATION
    Inventor: Shogo Matsunaga
  • Patent number: 10717447
    Abstract: The present invention includes: a visual perception target determination unit for determining a visual perception target by using a saliency model for determining that an object to be visually perceived at a glance is a visual perception target, a surprise model for determining that an object behaving abnormally is a visual perception target, and a normative model for determining that an object to be visually perceived by a viewing action of a driver serving as a norm is a visual perception target; and a visual guidance unit for determining whether or not an overlooked visual perception to which a line-of-sight direction detected by a line-of-sight detection unit is not directed is present, and guiding a line-of-sight of a driver toward the overlooked visual perception target, when the overlooked visual perception target is present.
    Type: Grant
    Filed: December 16, 2016
    Date of Patent: July 21, 2020
    Assignee: MAZDA MOTOR CORPORATION
    Inventors: Tadashi Isa, Masatoshi Yoshida, Richard Veale, Yusaku Takeda, Toshihiro Hara, Koji Iwase, Atsuhide Kishi, Kazuo Nishikawa, Takahide Nozawa
  • Patent number: 10713500
    Abstract: A practical method and system for transportation agencies (federal, state, and local) to monitor and assess the safety of their roadway networks in real time based on traffic conflict events such that corrective actions can be proactively undertaken to keep their roadway systems safe for travelling public. The method and system also provides a tool for evaluating the performance of autonomous vehicle/self-driving car technologies with respect to safety and efficiency.
    Type: Grant
    Filed: September 11, 2017
    Date of Patent: July 14, 2020
    Assignee: Kennesaw State University Research and Service Foundation, Inc.
    Inventors: Jidong J. Yang, Ying Wang, Chih-Cheng Hung
  • Patent number: 10705532
    Abstract: Embodiments are provided that include a method that includes causing a mobile robot to navigate toward a standing test device placed within an environment of the mobile robot. The method also includes receiving, from a proximity sensor on the standing test device, sensor data indicative of proximity of the mobile robot to the standing test device as the mobile robot navigates toward the standing test device. The method further includes determining, based on the sensor data received from the proximity sensor on the standing test device, an approach motion profile followed by the mobile robot in navigating toward the standing device. The method additionally includes providing a control instruction for the mobile robot based on the determined approach motion profile.
    Type: Grant
    Filed: December 26, 2017
    Date of Patent: July 7, 2020
    Assignee: X Development LLC
    Inventor: Robert Holmberg
  • Patent number: 10705194
    Abstract: A vehicle control system includes various sensors. The system can include, among others, LIDAR, RADAR, SONAR, cameras, microphones, GPS, and infrared systems for monitoring and detecting environmental conditions. In some implementations, one or more of these sensors may become miscalibrated. Using data collected by the sensors, the system can detect a miscalibrated sensor and generate an indication that one or more sensors have become miscalibrated. For example, data captured by a sensor can be processed to determine an average height represented by the sensor data and compared to an average height of data captured by other sensors. Based on a difference in heights, an indication can be generated identifying a miscalibrated sensor.
    Type: Grant
    Filed: March 21, 2018
    Date of Patent: July 7, 2020
    Assignee: Zoox, Inc.
    Inventor: David Pfeiffer
  • Patent number: 10676089
    Abstract: A driving assistance device (30) that has: an information acquisition unit (31) that acquires the relative speed of a vehicle ahead and the inter-vehicle distance to the vehicle ahead; a table (33) in which degrees of urgency that correspond to relative speeds and inter-vehicle distances have been pre-stored; and an ACC control unit (32) that reads out, from the table (33), a degree of urgency (x) that corresponds to the relative speed and inter-vehicle distance acquired by the information acquisition unit (31), finds a target acceleration/deceleration that has a slope (y) that is based on the degree of urgency (x) that was read out, and outputs the found target acceleration/deceleration as a control signal for controlling break pressure.
    Type: Grant
    Filed: April 11, 2017
    Date of Patent: June 9, 2020
    Assignee: ISUZU MOTORS LIMITED
    Inventors: Naoki Takahashi, Kazutaka Shimoda, Masaichi Takahashi
  • Patent number: 10661790
    Abstract: An apparatus for controlling driving of a vehicle includes a display located in the vehicle, a sensor configured to collect information about a surrounding vehicle, and a processor electrically connected with the display and the sensor, and configured to obtain location information and speed information of at least one surrounding vehicle located on neighboring lanes beside a driving lane where the vehicle is traveling, using the sensor, when the at least one surrounding vehicle is located within a danger distance in a lateral direction of the vehicle, perform avoidance driving for avoiding the at least one surrounding vehicle in the driving lane, and display an indicator corresponding to the avoidance driving on the display.
    Type: Grant
    Filed: June 18, 2018
    Date of Patent: May 26, 2020
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Min Chul Kang, Beom Jun Kim, Kyoung Jun Lee, Doo Jin Um, Dong Gu Lee, Dong Eon Oh, Hyun-Jae Yoo, Dae Young Kim, Young Min Han, Seung Geon Moon, Sung Woo Choi, Chan-Il Park, Sung Yoon Yeo, Jee Young Kim, Hoi Won Kim
  • Patent number: 10614322
    Abstract: In an object recognition device, a reliability setting unit sets object presence reliability indicating the reliability of whether or not an object is present with respect to the surrounding area of a host vehicle. Then, a grouping unit groups the reflection points based on the object presence reliability in the area between the reflection points. For this reason, for example, even though two objects are adjacent to each other, in a case where the object presence reliability in the area between the reflection points of one object and the reflection points of the other object is low, the reflection points of the two objects can be separately grouped without being grouped into a single group. As a result, since it is possible to avoid mistakenly recognizing a plurality of objects in a single object, recognition accuracy of the object can be improved.
    Type: Grant
    Filed: September 12, 2017
    Date of Patent: April 7, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Toshiyuki Matsubara
  • Patent number: 10611240
    Abstract: A cruise control apparatus controls travel of an own vehicle based on a predicted course which is a future travel course of the own vehicle. The cruise control apparatus includes a first predicted course calculating unit and a second predicted course calculating unit, as a plurality of course prediction means for calculating a predicted course, and is provided with a course change determination unit for determining whether a change in the course is to be performed and a prediction switching unit which performs switching to enable one of a first predicted course calculated by the first predicted course calculating unit and a second predicted course calculated by the second predicted course calculation unit, the switching being based on a result of determination made by the course change determination unit as to whether a change in the course is to be performed.
    Type: Grant
    Filed: October 5, 2015
    Date of Patent: April 7, 2020
    Assignees: DENSO CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Youhei Masui, Mitsuhiro Tokimasa, Toyoharu Katsukura, Takeshi Nanami, Takashi Nishida
  • Patent number: 10598782
    Abstract: A moving object detection device using an ultrasonic sensor, a method thereof, and a warning system using the same is provided. The moving object detection device includes: an ultrasonic sensor configured to receive a plurality of reflected signals per period; and a detector configured to divide a sensing distance of the ultrasonic sensor into a plurality of regions, detect a region of the plurality of regions as a region of interest (ROI) when an intensity of a reflected signal of the plurality of reflected signals exceeds a predetermined threshold in a region of the plurality of regions, and detect a moving object based on changes in the ROI.
    Type: Grant
    Filed: January 18, 2019
    Date of Patent: March 24, 2020
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Bo Hyeon Kim, In Young Choi
  • Patent number: 10593104
    Abstract: Methods, systems, and apparatus including medium-encoded computer program products for generating and visualizing 3D scenes include, in one aspect, a method including: obtaining site data acquired by one or more capture devices, wherein the site data comprises data sets corresponding to two or more locations about a physical site, and each respective data set comprises (i) imaging data of the physical site, (ii) coordinate data for the imaging data, and (iii) time metadata for the imaging data; reconstructing a series of three dimensional (3D) modeled scenes of the physical site from the site data using the imaging data, the coordinate data, and the time metadata; receiving a request having associated position, orientation and time data; and generating, in response to the request, output for display of a portion of the 3D modeled scenes to represent the physical site based on the position, orientation and time data.
    Type: Grant
    Filed: December 29, 2016
    Date of Patent: March 17, 2020
    Assignee: Autodesk, Inc.
    Inventors: Luc Robert, Emmanuel Gallo
  • Patent number: 10592755
    Abstract: In an apparatus for controlling a vehicle equipped with a radar device and an imaging device to detect an object around the vehicle. In the apparatus, an identity determiner is configured to, based on a first predicted time to collision with a first target and a second predicted time to collision with a second target, perform an identity determination as to whether or not the first target and the second target correspond to the same object. A scene determiner is configured to determine whether or not one of at least one specific scene where large calculation errors in the second predicted time may be generated is matched depending on the calculation method corresponding to the second predicted time to collision. A determination aspect setter is configured to, based on the calculation method and a result of determination by the scene determiner, set an aspect of the identity determination.
    Type: Grant
    Filed: January 29, 2018
    Date of Patent: March 17, 2020
    Assignee: DENSO CORPORATION
    Inventor: Ryo Takaki
  • Patent number: 10586455
    Abstract: Methods and systems for detecting lane changes using vehicle path data. In some implementations, one or more environmental sensors, such as RADAR modules, may be used to generate a first data set associated with a trajectory of a host vehicle. The first data set may be representative of a curve on a graph. Points of inflection may be sought in the curve. An identification of a point of inflection in the curve may then be used to confirm a lane change of the host vehicle.
    Type: Grant
    Filed: October 19, 2017
    Date of Patent: March 10, 2020
    Assignee: Veoneer US, Inc.
    Inventors: Ramesh Veerabhadra Pantulu Baladandayu Thapani, Shan Cong
  • Patent number: 10565468
    Abstract: An object tracking system suitable for use on an automated vehicle includes a camera, a radar-sensor and a controller. The controller is configured to assign a vision-identification to each vision-track associated with an instance of an object detected using the camera, and assign a radar-identification to each radar-glob associated with an instance of grouped-tracklets indicated detected using the radar-sensor. The controller is further configured to determine probabilities that a vision-track and a radar-glob indicate the same object. If the combination has a reasonable chance of matching it is includes in a further screening of the data to determine a combination of pairings of each vision-track to a radar-track that has the greatest probability of being the correct combination.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: February 18, 2020
    Assignee: Aptiv Technologies Limited
    Inventor: Jan K. Schiffmann
  • Patent number: 10557920
    Abstract: A method for determining a degree of blindness of a radar sensor in a motor vehicle on the basis of a measurement of the receive power level of a radar echo, including the following steps that are carried out when at least one object is located by the radar sensor: determining an expected value for the radar scatter cross-section of the object on the basis of known properties of objects to be located; estimating the radar scatter cross-section of the located object on the basis of the measured receive power level; and calculating an indicator for the degree of blindness of the radar sensor as a monotonically increasing function of the difference between the estimated radar scatter cross-section and the expected value.
    Type: Grant
    Filed: October 31, 2017
    Date of Patent: February 11, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Maija Chabaud, Volker Gross
  • Patent number: 10557935
    Abstract: A state of a vehicle, including a sensor for sensing another vehicle, is defined by determining a speed of the vehicle and determining the state in accordance with the sensing range of the sensor and the speed.
    Type: Grant
    Filed: May 13, 2015
    Date of Patent: February 11, 2020
    Assignee: Volkswagen AG
    Inventor: Patrick Pascheka
  • Patent number: 10520321
    Abstract: A system for scoring route safety includes and input interface and a processor. The input interface is to receive data associated with a route segment. The data includes a speed data. The processor is to determine a segment safety score using a speed distribution. The speed distribution is based at least in part on the speed data.
    Type: Grant
    Filed: December 10, 2015
    Date of Patent: December 31, 2019
    Assignee: Lytx, Inc.
    Inventor: Muskan Kukreja
  • Patent number: 10521749
    Abstract: A risk information processing method used in a risk information processing system that manages a degree of risk at a spot where a moving object is located includes: storing, as risk information in a storage, a degree of risk for a combination of spot and situation; and estimating first risk information for a first combination for which a degree of risk has not been input by using three or more pieces of risk information including degrees of risk for a second combination whose spot is the same as the first combination and whose situation is different from the first combination, for a third combination whose situation is the same as the first combination and whose spot is different from the first combination, and for a fourth combination whose situation is the same as the second combination and whose spot is the same as the third combination.
    Type: Grant
    Filed: December 10, 2015
    Date of Patent: December 31, 2019
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventors: Hiroshi Amano, Kimio Minami, Toshihisa Nakano, Tohru Wakabayashi, Takako Hirose
  • Patent number: 10514698
    Abstract: A route guidance unit includes: a change determination unit configured to determine whether the host vehicle should change the travel lane to another lane so as to travel toward a junction or an intersection on the travel route; a road determination unit configured to determine whether a road between the position of the host vehicle and the junction or the intersection meets road conditions; and a guide unit configured to provide guidance to change lanes, wherein, when the change determination unit determines that the host vehicle should change the travel lane to the other lane, and the road determination unit determines that the road between the position of the host vehicle and the junction or the intersection meets the road conditions, the guide unit changes a point to provide the guidance depending on the road conditions.
    Type: Grant
    Filed: July 27, 2015
    Date of Patent: December 24, 2019
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Toshiharu Nakajima
  • Patent number: 10515553
    Abstract: A vehicle is configured to perform the steps of: obtaining an indicator of a potential collision threat identified by an autonomous emergency braking system of the vehicle, wherein the autonomous emergency braking system of the vehicle comprises pre-defined control phases, and wherein the indicator at least partly determines a current control phase of the autonomous emergency braking system; and sending the obtained indicator to one or more following vehicles.
    Type: Grant
    Filed: February 24, 2016
    Date of Patent: December 24, 2019
    Assignee: Volvo Truck Corporation
    Inventors: Hans DeragÄrden, Lennart Cider
  • Patent number: 10471970
    Abstract: A safety apparatus of a vehicle and a method of using the same are disclosed. The safety apparatus provides safety to a pedestrian and a vehicle traveling in a lane next to parked vehicles in a blind spot formed by the parked vehicles. The safety apparatus for a vehicle includes a plurality of sensor, a controller, and a display. The sensors sense the presence and positions of a pedestrian and a traveling vehicle that are approaching the vehicle. The controller calculates a moving direction and moving speed of each of the pedestrian and the traveling vehicle using the result sensed by the plurality of sensors. The display displays the position, the moving direction, or the moving speed of the pedestrian or the traveling vehicle such that the displayed information is easily recognized by any object present in an external part.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: November 12, 2019
    Assignee: MANDO CORPORATION
    Inventor: Gi Yeon Won