Program Control (e.g., Path Guidance, Etc.) Patents (Class 348/119)
  • Patent number: 10802498
    Abstract: An automated guided vehicle (AGV) has an image reader that scans indicia located on a floor. The image reader scan the indicium to obtain instructions for the AGV to follow. A processor in the AGV can perform geometry estimation of ellipsoidal objects in order to align the AGV as it moves or is stopped along a path.
    Type: Grant
    Filed: May 30, 2018
    Date of Patent: October 13, 2020
    Assignee: Datalogic IP Tech S.r.l.
    Inventors: Francesco Deppieri, Vittorio Rago
  • Patent number: 10776634
    Abstract: A method for determining the course of the road for a moving motor vehicle having a surroundings sensor system. Sensor data generated by the surroundings sensor system are evaluated to detect lane-relevant features. A lane model having at least one lane model parameter that determines the course of the lane is generated for the road, structures of at least one distance range that are parallel to the road are detected in the sensor data, the tangential direction of at least the one structure that is parallel to the road is determined, and the value of the tangential direction of the structure that is parallel to the road is adopted as the value of the direction of the tangent line at the point of contact with the structure that is parallel to the road to determine at least the one lane model parameter by predictive estimation in the lane model.
    Type: Grant
    Filed: March 31, 2011
    Date of Patent: September 15, 2020
    Assignee: Conti Temic microelectronic GmbH
    Inventors: Urban Meis, Christoph Wiedemann, Wladimir Klein, Christoph Br├╝ggemann
  • Patent number: 10767996
    Abstract: A system and methods for reducing map search area requirements in a navigation system are disclosed. The system includes a vehicle, an imaging device onboard the vehicle configured to generate an image scan, receive at least one image responsive to the image scan, and a processing device configured to receive and store the at least one image. The system further includes a navigation system onboard the vehicle configured to store an image of a map, and a learning network associated with the navigation system and configured to divide the image of the map into a plurality of map subsections, recognize each one of a plurality of images of different landmarks on the map, generate a set of classifications for each map subsection, and associate each classification of the set of classifications with at least one landmark of the different landmarks on the map.
    Type: Grant
    Filed: May 8, 2018
    Date of Patent: September 8, 2020
    Assignee: Honeywell International Inc.
    Inventors: Benjamin Mohr, Vijay Venkataraman
  • Patent number: 10731989
    Abstract: A system and methods for reducing map search area requirements in a navigation system are disclosed. The system includes a vehicle, an imaging device onboard the vehicle configured to generate an image scan, receive at least one image responsive to the image scan, and a processing device configured to receive and store the at least one image. The system further includes a navigation system onboard the vehicle configured to store an image of a map, and a learning network associated with the navigation system and configured to divide the image of the map into a plurality of map subsections, recognize each one of a plurality of images of different landmarks on the map, generate a set of classifications for each map subsection, and associate each classification of the set of classifications with at least one landmark of the different landmarks on the map.
    Type: Grant
    Filed: May 8, 2018
    Date of Patent: August 4, 2020
    Assignee: Honeywell International Inc.
    Inventors: Benjamin Mohr, Vijay Venkataraman
  • Patent number: 10685447
    Abstract: A method for identifying an object in a surrounding region of a motor vehicle as a stationary object is disclosed. The surrounding region is captured in images using a vehicle-side capture device and the object is detected in the captured images using an image processing device. A first position of the object in the surrounding region relative to the motor vehicle is estimated on the basis of a first captured image, a movement sequence of the object in image coordinates is determined on the basis of the first image and a second captured image, a first movement sequence that characterizes a first, stationary object in the image coordinates is determined proceeding from the first estimated position in the surrounding region, and the captured object is identified as a stationary object on the basis of a comparison of the movement sequence of the captured object to the first characterizing movement sequence.
    Type: Grant
    Filed: July 26, 2016
    Date of Patent: June 16, 2020
    Assignee: Valeo Schalter und Sensoren GmbH
    Inventor: Nikolai Sergeev
  • Patent number: 10678255
    Abstract: Systems, Methods and Apparatuses are provided for detecting surface conditions, which includes: an image scene captured by a camera wherein the image scene includes: a set of a plurality of regions of interest (ROIs); and a processor configured to receive the image scene to: extract at least a first and a second ROI from the set of the plurality of ROIs of the image scene; associate the first ROI with an above-horizon region and associate the second ROI with a surface region; analyze the first ROI and the second ROI in parallel for a condition related to an ambient lighting in the first ROI and for an effect related to the ambient lighting in the second ROI; and extract from the first ROI features of the condition of the ambient lighting and extract from the second ROI features of the effect of the ambient lighting on a surface region.
    Type: Grant
    Filed: February 14, 2018
    Date of Patent: June 9, 2020
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Qingrong Zhao, Mohsen Khalili, Jinsong Wang, Bakhtiar B. Litkouhi
  • Patent number: 10679507
    Abstract: A parking support system includes a parking path planning unit that plans a trajectory of each unit path when moving a vehicle to a target parking position by repeating a movement of the unit path including one forward movement and one backward movement in succession and calculates a vehicle control signal that causes the vehicle to move along the trajectory such that a steering angle of the vehicle is substantially 0 degrees at an arrival position of each of the forward movement and the backward movement.
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: June 9, 2020
    Assignees: MITSUBISHI HEAVY INDUSTRIES, LTD., MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA
    Inventors: Yasuo Fujishima, Yusuke Kinouchi, Satoshi Iio, Tetsuya Tomonaka, Kevin Walters
  • Patent number: 10678262
    Abstract: A system to use submaps to control operation of a vehicle is disclosed. A storage system may be provided with a vehicle to store a collection of submaps that represent a geographic area where the vehicle may be driven. A programmatic interface may be provided to receive submaps and submap updates independently of other submaps.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: June 9, 2020
    Assignee: UATC, LLC
    Inventors: Brett Browning, Peter Hansen, Ethan Eade, David Prasser, David LaRose, Robert Zlot
  • Patent number: 10661725
    Abstract: A camera module, which is mounted on an inside of a front windshield of a vehicle and configured to image an external environment of the vehicle, includes multiple lens units on which an optical image of the external environment is incident, individually, and an imaging system to generate an outside image of the external environment by imaging through each of the lens units, individually.
    Type: Grant
    Filed: July 9, 2019
    Date of Patent: May 26, 2020
    Assignee: DENSO CORPORATION
    Inventors: Sho Okuda, Takeshi Kazama, Yasuki Furutake, Nobuhisa Shimizu
  • Patent number: 10654942
    Abstract: An apparatus can include a processor that can receive location data from a user device, and store the location data in a user profile data structure also storing facial recognition data. The processor can also receive at least one image, and can identify a location based at least in part on a set of characteristics within the at least one image. The processor can, for each user profile data structure stored in a database, compare location data in that user profile data structure to the location. The processor can, when the location data of the user profile data structure and the location match, conduct facial recognition to determine whether the user associated with the user profile data structure can be identified in the at least one image. The processor can then associate the at least one image with the user profile data structure if the user can be identified.
    Type: Grant
    Filed: October 21, 2016
    Date of Patent: May 19, 2020
    Assignee: 15 Seconds of Fame, Inc.
    Inventors: Adam Resnick, Ruslan Sabitov, Brett Joshpe
  • Patent number: 10627606
    Abstract: A camera module, which is mounted on an inside of a front windshield of a vehicle and configured to image an external environment of the vehicle, includes multiple lens units on which an optical image of the external environment is incident, individually, and an imaging system to generate an outside image of the external environment by imaging through each of the lens units, individually.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: April 21, 2020
    Assignee: DENSO CORPORATION
    Inventors: Kensuke Chikata, Takeshi Kazama, Yasuki Furutake, Kazuyoshi Akiba
  • Patent number: 10589785
    Abstract: A lane keeping assist method and system may include determining a driving state of a vehicle according to a state of a lane change in which an intention of a driver is reflected after a turn signal is applied, adjusting a criterion for driver override depending on an error between a driving path of the vehicle and a target path according to the driving state of the vehicle, comparing a steering torque of the driver with the adjusted criterion to determine activation or cancellation of the driver override, minimizing the driver's discomfort in the steering operation when the driver intentionally changes the lane.
    Type: Grant
    Filed: October 31, 2017
    Date of Patent: March 17, 2020
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Beom Jun Kim, Kyoung Jun Lee, Doo Jin Um, Dong Gu Lee, Dong Eon Oh, Hyun Jae Yoo, Min Chul Kang, 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: 10583779
    Abstract: A parking assist system for a vehicle includes a rear backup camera and a control having an image processor that processes image data captured by the rear backup camera. The control, when the vehicle is driven forward into a parking slot and responsive to image processing of captured image data, determines a parking slot marker at a side boundary of the parking slot at which the vehicle is being parked. The system may include a display screen that displays images representative of the vehicle at a determined orientation relative to the determined parking slot marker so a driver of the vehicle can determine whether or not the vehicle is aligned in the parking slot. The control may determine a degree of misalignment of the vehicle relative to the parking slot and may generate an output to alert the driver that the vehicle is not aligned in the parking slot.
    Type: Grant
    Filed: October 2, 2018
    Date of Patent: March 10, 2020
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Krishna Koravadi
  • Patent number: 10572717
    Abstract: A method and apparatus are provided for optimizing one or more object detection parameters used by an autonomous vehicle to detect objects in images. The autonomous vehicle may capture the images using one or more sensors. The autonomous vehicle may then determine object labels and their corresponding object label parameters for the detected objects. The captured images and the object label parameters may be communicated to an object identification server. The object identification server may request that one or more reviewers identify objects in the captured images. The object identification server may then compare the identification of objects by reviewers with the identification of objects by the autonomous vehicle. Depending on the results of the comparison, the object identification server may recommend or perform the optimization of one or more of the object detection parameters.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: February 25, 2020
    Assignee: WAYMO LLC
    Inventors: Jiajun Zhu, Christopher Paul Urmson, Dirk Haehnel, Nathaniel Fairfield, Russell Leigh Smith
  • Patent number: 10558222
    Abstract: Systems and methods are provided for navigating a vehicle using a crowdsourced sparse map. In one implementation, a method of autonomously navigating a vehicle along a road segment may include receiving a sparse map model, receiving at least one image representative of an environment of the vehicle, analyzing the sparse map model and the at least one image, and determining an autonomous navigational response for the vehicle based on the analysis of the sparse map model and the at least one image. The at least one image may be received from a camera, and the sparse map model may include at least one line representation of a road surface feature extending along the road segment, each line representation representing a path along the road segment substantially corresponding with the road surface feature.
    Type: Grant
    Filed: July 21, 2017
    Date of Patent: February 11, 2020
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventor: Ofer Fridman
  • Patent number: 10534253
    Abstract: A camera module, which is mounted on an inside of a front windshield of a vehicle and configured to image an external environment of the vehicle, includes multiple lens units on which an optical image of the external environment is incident, individually, and an imaging system to generate an outside image of the external environment by imaging through each of the lens units, individually.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: January 14, 2020
    Assignee: DENSO CORPORATION
    Inventors: Sho Okuda, Takeshi Kazama, Yasuki Furutake, Nobuhisa Shimizu
  • Patent number: 10481613
    Abstract: A vehicle is operable in a first operating mode in which the vehicle travels autonomously inside the traffic lane based on a detection of lane markings of a traffic lane and in a second operating mode in which the vehicle autonomously follows a vehicle driving in front while ignoring lane markings, and a method of its operation includes operating the vehicle in a first of the two operating modes, detecting a vehicle environment, and switching from the first operating mode to the other of the two operating modes as a function of the detected vehicle environment. A device can execute the method and a computer program can be executed by a device for performing the method.
    Type: Grant
    Filed: January 14, 2016
    Date of Patent: November 19, 2019
    Assignee: Robert Bosch GmbH
    Inventors: Christoph Schroeder, Oliver Pink, Stefan Nordbruch, Svetlana Rau, Ulf Wilhelm
  • Patent number: 10480949
    Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit. The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of a ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.
    Type: Grant
    Filed: June 1, 2017
    Date of Patent: November 19, 2019
    Assignee: DENSO CORPORATION
    Inventors: Kojiro Tateishi, Shunsuke Suzuki, Hiroshi Mizuno, Naoki Kawasaki, Takeshi Shikimachi
  • Patent number: 10455221
    Abstract: The invention relates to creating and viewing stereo images, for example stereo video images, also called 3D video. At least three camera sources with overlapping fields of view are used to capture a scene so that an area of the scene is covered by at least three cameras. At the viewer, a camera pair is chosen from the multiple cameras to create a stereo camera pair that best matches the location of the eyes of the user if they were located at the place of the camera sources. That is, a camera pair is chosen so that the disparity created by the camera sources resembles the disparity that the user's eyes would have at that location. If the user tilts his head, or the view orientation is otherwise altered, a new pair can be formed, for example by switching the other camera. The viewer device then forms the images of the video frames for the left and right eyes by picking the best sources for each area of each image for realistic stereo disparity.
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: October 22, 2019
    Assignee: Nokia Technologies Oy
    Inventors: Kim Gronholm, Andrew Robert Baldwin
  • Patent number: 10407843
    Abstract: A road paver for paving paving material in a paving direction (a) is provided comprising a machine frame, a driver's platform, a drive motor, a chassis with at least a left travel unit and a right travel unit, a material container arranged at the front of the road paver in the paving direction (a) for receiving paving material, the material container comprising a left container half and a right container half, which each have a container floor, a rising container sidewall and a rising container rear wall, and a longitudinal conveying device configured to transport paving material from the material container to a paving screed arranged at the rear of the road paver in the paving direction.
    Type: Grant
    Filed: February 2, 2018
    Date of Patent: September 10, 2019
    Assignee: BOMAG GmbH
    Inventors: Thorsten Anheier, Thomas Haubrich, Thomas Klein
  • Patent number: 10391952
    Abstract: A camera module, which is mounted on an inside of a front windshield of a vehicle and configured to image an external environment of the vehicle, includes multiple lens units on which an optical image of the external environment is incident, individually, and an imaging system to generate an outside image of the external environment by imaging through each of the lens units, individually.
    Type: Grant
    Filed: February 1, 2019
    Date of Patent: August 27, 2019
    Assignee: DENSO CORPORATION
    Inventors: Sho Okuda, Takeshi Kazama, Yasuki Furutake, Nobuhisa Shimizu
  • Patent number: 10372128
    Abstract: Example sinkhole detection systems and methods are described. In one implementation, a method receives data from multiple sensors mounted to a vehicle and analyzes the received data to identify a sinkhole in a roadway ahead of the vehicle. If a sinkhole is identified, the method adjusts vehicle operations and reports the sinkhole to a shared database and/or another vehicle.
    Type: Grant
    Filed: November 21, 2016
    Date of Patent: August 6, 2019
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Scott Vincent Myers, Ashley Elizabeth Micks, Alexandru Mihai Gurghian, Harpreetsingh Banvait, Parsa Mahmoudieh
  • Patent number: 10315306
    Abstract: A domestic robotic system including a robot, which includes a movement system for moving the robot over a surface, an image obtaining device, and a processor. The processor is programmed to detect a predetermined pattern within the images, the predetermined pattern being associated with a marker provided on a base station, respond to the detection of the predetermined pattern by determining, by a first process, an estimate of the robot's position and/or orientation, this estimate of the robot's position and orientation being relative to the base station, the processor and the image obtaining device thereby forming part of a first positioning system, determine, by a second process, an alternative estimate of the robot's position and/or orientation, the processor thereby forming part of a second positioning system, and perform at least one calibration of the second positioning system using the first positioning system.
    Type: Grant
    Filed: October 21, 2016
    Date of Patent: June 11, 2019
    Assignee: F Robotics Acquisitions Ltd.
    Inventor: Shai Abramson
  • Patent number: 10310503
    Abstract: A travel control apparatus for a vehicle includes: a frontward environment recognition unit that obtains frontward environment information by recognizing a frontward environment of the vehicle; a frontward environment information reliability calculator that calculates a reliability of the frontward environment information; a map information storage unit that stores map information relating to a travel region of the vehicle on the basis of position information indicating a position of the vehicle; a map information updating unit that updates the map information while calculating a reliability of the map information; a control information selector that compares the reliability of the frontward environment information with update information relating to the map information, and selects either one of the frontward environment information and the map information as information to be used during automatic driving control; and an automatic driving control execution unit that executes the automatic driving control ba
    Type: Grant
    Filed: March 1, 2016
    Date of Patent: June 4, 2019
    Assignee: SUBARU CORPORATION
    Inventor: Hajime Oyama
  • Patent number: 10232800
    Abstract: A camera module, which is mounted on an inside of a front windshield of a vehicle and configured to image an external environment of the vehicle, includes multiple lens units on which an optical image of the external environment is incident, individually, and an imaging system to generate an outside image of the external environment by imaging through each of the lens units, individually.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: March 19, 2019
    Assignee: DENSON CORPORATION
    Inventors: Sho Okuda, Takeshi Kazama, Yasuki Furutake, Nobuhisa Shimizu
  • Patent number: 10181266
    Abstract: Various aspects of a system and method to provide driving assistance are disclosed herein. The system comprises one or more circuits in an electronic control unit used in a vehicle configured to detect one or more actions associated with the vehicle based on one or more signals generated by one or more sensors embedded in the vehicle. The electronic control unit may be further configured to control the activation of an imaging device located on the vehicle at an opposite side of a driver of the vehicle, based on the detected one or more actions. The imaging device is operable to capture one or more images in a forward-facing direction of the vehicle.
    Type: Grant
    Filed: September 11, 2015
    Date of Patent: January 15, 2019
    Assignee: SONY CORPORATION
    Inventors: Manish Gupta, Pramod Chintalapoodi, Sho Tanaka
  • Patent number: 10139830
    Abstract: An automatic land following control system is provided and includes an image sensor, a steering angle sensor, an inertial measurement unit, a vehicle speed sensor and a controller. The image sensor senses a vehicle lane to generate a land data. The steering angle sensor senses a steering angle to generate a steering angle data. The IMU senses an acceleration, a yaw rate and a roll angle of the vehicle to generate an acceleration data, a yaw rate data and a roll angle data. The vehicle speed sensor senses a speed of the vehicle to generate a vehicle speed data. The controller receives a digital map data, the lane data, the steering angle data, the acceleration data, the yaw rate data, the roll angle data and the vehicle speed data to calculate a compensation angle data of the wheel.
    Type: Grant
    Filed: December 29, 2016
    Date of Patent: November 27, 2018
    Assignee: Automotive Research & Testing Center
    Inventors: Po-Kai Tseng, Jin-Yan Hsu, Shih-Chieh Huang
  • Patent number: 10124827
    Abstract: In an example embodiment, a vehicle guidance system includes a memory including computer-readable instructions stored therein and a processor. The processor is configured to execute the computer-readable instructions to estimate a wheel angle of a vehicle based on at least a first value, the first value being a hand wheel based estimate of the wheel angle, and adjust steering commands for steering the vehicle based on the estimated wheel angle to permit the vehicle to move along a set path.
    Type: Grant
    Filed: August 31, 2016
    Date of Patent: November 13, 2018
    Assignee: DEERE & COMPANY
    Inventors: Alex Nykamp, Joshua Lawson
  • Patent number: 10083612
    Abstract: Provided is a display device for a vehicle. The display device includes a display member and a collision predictor. The collision predictor detects one or more moving bodies on and around a course of the vehicle, and predicts collision of the vehicle with the one or more moving bodies detected, and a position of the collision. The display member displays a collision-position mark at a display position in a visual field of a driver, on a condition that the collision of the vehicle with any one of the one or more moving bodies is predictable. The display position is superimposed on the predicted position of the collision. The display member displays a delineator mark that associates the collision-position mark with the relevant one of the one or more moving bodies detected.
    Type: Grant
    Filed: July 5, 2017
    Date of Patent: September 25, 2018
    Assignee: SUBARU CORPORATION
    Inventors: Isamu Nagasawa, Toshiya Furukawa, Tsukasa Mikuni, Takahiro Sakaguchi, Shun Ichikawa
  • Patent number: 10055015
    Abstract: Methods and apparatuses are provided for controlling an external object by an electronic device. A line of sight of a user is determined using an image sensor of the electronic device. An object located outside of the electronic device is determined based on the line of sight of the user. Object information regarding the object is determined. A user input with respect to the object is received from the user. The object or another electronic device associated with the object is controlled based on the user input and the object information.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: August 21, 2018
    Assignee: Samsung Electronics Co., Ltd
    Inventor: Seong-Hee Hwang
  • Patent number: 10049542
    Abstract: A self-propelled security system on an adjacent to a fence track, equipped with at least one imaging sensor and wherein the rail track on which the system's movable payload is propelled and the movable payload are both exposed to the fence side, and an anchoring means for anchoring, from time to time, the movable payload, and replacing the payload's battery with a new one within the anchoring means.
    Type: Grant
    Filed: May 4, 2015
    Date of Patent: August 14, 2018
    Assignee: Magal Security Systems Ltd.
    Inventors: Avi Shaham, Yehonatan Ben-Hamozeg, Avraham Saar
  • Patent number: 10023198
    Abstract: A method for determining an incline in a road that is some distance ahead of a motor vehicle relative to the section of road that is currently being driven on by the motor vehicle, wherein images of the road that is ahead of the motor vehicle are recorded by a camera, road path lines are identified ahead of the motor vehicle in the recorded images and the relative incline is calculated with reference to the differences in the courses of the road path lines at different distances.
    Type: Grant
    Filed: October 7, 2014
    Date of Patent: July 17, 2018
    Assignee: Ford Global Technologies, LLC
    Inventors: Christoph Arndt, Uwe Gussen, Frederic Stefan
  • Patent number: 9971944
    Abstract: A method for determining a road region may include: obtaining a color image; selecting a candidate road region within the color image according to a road model; identifying a seed pixel from the candidate road region; obtaining a brightness threshold and a color threshold, where the brightness threshold and the color threshold are determined according to brightness distances and color distances from pixels in the candidate road region to the seed pixel; and performing road segmentation by determining whether the pixels in the candidate road region belong to a road region based on the brightness threshold and the color threshold.
    Type: Grant
    Filed: August 23, 2013
    Date of Patent: May 15, 2018
    Assignee: HARMAN INTERNATIONAL INDUSTRIES, INCORPORATED
    Inventor: Xisheng Shao
  • Patent number: 9912933
    Abstract: A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, includes a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, wherein when the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned on a side away from the travel path in the captured image than to the disparity information positioned on a side near the travel path in the captured image.
    Type: Grant
    Filed: April 12, 2016
    Date of Patent: March 6, 2018
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Masakazu Nishijima, Fumio Sugaya
  • Patent number: 9910444
    Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
    Type: Grant
    Filed: February 3, 2016
    Date of Patent: March 6, 2018
    Assignee: iRobot Corporation
    Inventors: Ethan Eade, Mario E. Munich, Philip Fong
  • Patent number: 9889855
    Abstract: A method for determining an incline in a road that is some distance ahead of a motor vehicle relative to the section of road that is currently being driven on by the motor vehicle, wherein images of the road that is ahead of the motor vehicle are recorded by a camera, road path lines are identified ahead of the motor vehicle in the recorded images and the relative incline is calculated with reference to the differences in the courses of the road path lines at different distances.
    Type: Grant
    Filed: October 7, 2014
    Date of Patent: February 13, 2018
    Assignee: Ford Global Technologies, LLC
    Inventors: Christoph Arndt, Uwe Gussen, Frederic Stefan
  • Patent number: 9832352
    Abstract: A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.
    Type: Grant
    Filed: February 26, 2014
    Date of Patent: November 28, 2017
    Assignee: Autofuss
    Inventor: Jeff Linnell
  • Patent number: 9773416
    Abstract: The disclosure relates to a method for lane filtering. In particular, the present embodiments relate to a method for determining whether lane filtering may be performed, an apparatus for lane filtering and computer program code to implement the determination by a device. In accordance with an example method information of a distance between a second vehicle and a third vehicle adjacent to each other and in front of a first vehicle is obtained. It is determined whether the distance is big enough for the first vehicle to proceed through the space between the second first vehicle and the third vehicle. An indication is provided on the basis of the result of the determining.
    Type: Grant
    Filed: May 12, 2016
    Date of Patent: September 26, 2017
    Assignee: HERE Global B.V.
    Inventor: Jerome Beaurepaire
  • Patent number: 9689687
    Abstract: Navigation data is generated by receiving (502) a new experience data set (321) relating to a new experience capture. At least one stored experience data set (320) relating to at least one previous experience capture is also received (504). An experience data set includes a set of nodes, with each node comprising a series of visual image frames taken over a series of time frames. A candidate set of said nodes is obtained (506) from the stored experience data set that potentially matches a said node in the new experience data set, and then a check (508) if performed to see if a node in the candidate set matches the node in the new experience data set. If the result of the checking is positive then data relating to the matched nodes is added (510) to a place data set useable for navigation, the place data set indicating that said nodes in different said experience data sets relate to a same place.
    Type: Grant
    Filed: March 13, 2013
    Date of Patent: June 27, 2017
    Assignee: The Chancellor Masters and Scholars of The University of Oxford
    Inventors: Paul Michael Newman, Winston Samuel Churchill
  • Patent number: 9688200
    Abstract: A calibration system for a multi-camera vision system of a vehicle includes a plurality of calibration targets disposed at an area at which the vehicle is positioned for a calibrating procedure. The calibration targets may include a patterned array of markings, such as colored or black/white or shaded markings or dots, disposed at forward, rearward and/or sideward regions of the vehicle. The control is operable to process image data captured by the cameras and, responsive to processing of captured image data, the control is operable to determine a particular local pattern of markings of the respective calibration target to determine the position of the respective calibration target relative to the camera that is imaging that target. Responsive to processing of captured image data, the calibration system is operable to calibrate the multi-camera vision system of the vehicle.
    Type: Grant
    Filed: March 3, 2014
    Date of Patent: June 27, 2017
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Timor Knudsen
  • Patent number: 9685011
    Abstract: A vehicle safety control apparatus using cameras includes a first camera configured to photograph a current object at at least one of a narrow angle and a straight angle during running, a second camera configured to photograph the current object at a wide angle during the running, an image processing unit configured to perform image processing on first current object image data captured by the first camera and second current object image data captured by the second camera, a recognition unit configured to recognize the first and second current object image data on which the image processing unit has performed the image processing, a storage unit configured to cause the recognized data to match preset reference object-specific data and separately store the data matching the preset reference object-specific data; and a control unit configured to receive the recognized data and deliver a storage command to the storage unit.
    Type: Grant
    Filed: June 19, 2014
    Date of Patent: June 20, 2017
    Assignee: MANDO CORPORATION
    Inventor: Myung-Woo Kim
  • Patent number: 9545945
    Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and calculates a steering correction command for use in producing a steering correction torque which reduces the steering torque which arises from output of the torque from the electric motor based on a transfer characteristic of transmission of the output of torque from the electric motor as a part of the steering torque. A motor driver works to actuate the electric motor based on sum of the assist command, the tracking command, and the steering correction command.
    Type: Grant
    Filed: November 5, 2015
    Date of Patent: January 17, 2017
    Assignee: DENSO CORPORATION
    Inventors: Hisaya Akatsuka, Motoaki Kataoka, Toshiki Matsumoto, Hisashi Iida
  • Patent number: 9505413
    Abstract: Various methods and systems are provided for generating prioritized alerts for a driver based on a fusion of data from a plurality of sensors. In one example, a method comprises calculating a first route of a vehicle, calculating a second route of an obstacle, calculating a gaze of a driver of the vehicle, generating an alert responsive to the gaze not including the obstacle and the first route intersecting the second route within a threshold duration, and suppressing a generation of the alert otherwise.
    Type: Grant
    Filed: March 20, 2015
    Date of Patent: November 29, 2016
    Assignee: Harman International Industries, Incorporated
    Inventor: Heikki Laine
  • Patent number: 9494942
    Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.
    Type: Grant
    Filed: May 28, 2015
    Date of Patent: November 15, 2016
    Assignee: Google Inc.
    Inventors: Michael Steven Montemerlo, John Tisdale, Vadim Furman
  • Patent number: 9446652
    Abstract: An emitting device emits parallel light beams which impinge on a road surface, forming marks. An imaging device takes an image of an image pickup object containing the marks to obtain a picked-up image. A longitudinal distance between mark images respectively corresponding to the marks is detected. A larger gradient can be obtained in the case where the distance is long than in the case where the distance is short. While the gradient of the road surface is obtained based on the distance as described above, a relative positional relationship between the two mark images is not changed as long as the gradient of the road surface is the same even when the height position of an over-spring member provided with the emitting device and the imaging device is changed. Accordingly, the gradient of the road surface can be obtained without consideration of the displacement of the over-spring member.
    Type: Grant
    Filed: August 2, 2012
    Date of Patent: September 20, 2016
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Shuuichi Buma
  • Patent number: 9394059
    Abstract: A method for monitoring an autonomous accelerated pushback process in an aircraft equipped with an engines-off taxi system is provided to maximize safety and facilitate the accelerated pushback process. The aircraft is equipped with a monitoring system including a number of different kinds of sensors and monitoring devices positioned to maximally monitor the aircraft's exterior ground environment and communicate the presence or absence of obstructions in the aircraft's path while the pilot is controlling the engines-off taxi system to drive the aircraft in reverse away from a terminal gate and then turn in place at a selected location before driving forward to a taxiway. The sensors and monitoring devices may be a combination of cameras, ultrasound, global positioning, radar, and LiDAR or LADAR devices, and proximity sensors located at varying heights adapted to continuously or intermittently scan or sweep the aircraft exterior and ground environment during aircraft ground movement.
    Type: Grant
    Filed: August 14, 2014
    Date of Patent: July 19, 2016
    Assignee: Borealis Technical Limited
    Inventors: Isaiah W. Cox, Jan Vana, Joseph J. Cox, Stefan Kracht
  • Patent number: RE46966
    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: July 24, 2018
    Assignee: Waymo LLC
    Inventors: David I. Ferguson, Dmitri Dolgov
  • Patent number: RE46982
    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: August 7, 2018
    Assignee: Waymo LLC
    Inventors: David I. Ferguson, Dmitri Dolgov
  • Patent number: RE47002
    Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: August 21, 2018
    Assignee: Waymo LLC
    Inventors: David I. Ferguson, Dmitri Dolgov
  • Patent number: RE47834
    Abstract: A method for detecting a narrow road includes calculating relative heights of points from a distance measuring sensor to a ground based on distance information. A left boundary point and a right boundary point, at which a difference in relative heights from adjacent points becomes maximal, are acquired. A road boundary line of a driving road is acquired based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value. A road width of the driving road is calculated based on the road boundary line. It is detected whether the driving road of the vehicle is a narrow road based on the road width.
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: February 4, 2020
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Ki Cheol Shin, Chang Jae Lee, Ee Suk Jung