Program Control (e.g., Path Guidance, Etc.) Patents (Class 348/119)
  • 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: 9355316
    Abstract: A system and computer implemented method for identifying an object in a route is disclosed. The method may include capturing a first set of images during a first traversal of a first route. The method may also include capturing a second set of images during a second traversal of the first route. The method may also include identifying, by comparing the first set of images with the second set of images, an object in the second set of images meeting an obstruction criteria. The method may also include providing a notification of the object which was identified as meeting the obstruction criteria.
    Type: Grant
    Filed: September 4, 2014
    Date of Patent: May 31, 2016
    Assignee: International Business Machines Corporation
    Inventors: Mark B. Stevens, John D. Wilson
  • Patent number: 9349057
    Abstract: A three-dimensional object detection device basically includes a three-dimensional object detection unit, a natural object assessment unit and a control unit. The three-dimensional object detection unit detects three-dimensional objects based on image information of a rear of a vehicle from a camera. The natural object assessment unit assesses that a detected three-dimensional object is a natural object, such as a plant or snow, based on an irregularity evaluation value calculated based on a first pixel number of first pixels representing a first predetermined differential in the differential image containing the detected three-dimensional object and a second pixel number of second pixels corresponding to the three-dimensional object and representing a second predetermined differential greater than the first predetermined differential.
    Type: Grant
    Filed: July 27, 2012
    Date of Patent: May 24, 2016
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Chikao Tsuchiya, Yasuhisa Hayakawa, Shinya Tanaka, Osamu Fukata
  • Patent number: 9348845
    Abstract: The invention relates to a system for verifying geographical descriptiveness of a media file, such as a picture. The system comprises storage means adapted to store a media file, communication means adapted to send said media file to a plurality of user terminals, and to receive, from the user terminals, data indicating a guessed geographical position with which the user of each user terminal associates the media file. The system also comprises calculation means adapted to determine whether the media file is indicative of a geographical position based on the guessed geographical positions received from the plurality of user terminal.
    Type: Grant
    Filed: October 31, 2008
    Date of Patent: May 24, 2016
    Assignee: Telefonaktiebolaget LM Ericsson (Publ)
    Inventors: Tor Bjorn Minde, Richard Carlsson, Xin Feng, Visa Fristrom, David Hertz, Rita Ziyi Xu
  • Patent number: 9323992
    Abstract: A computerized system mountable on a vehicle operable to detect an object by processing first image frames from a first camera and second image frames from a second camera. A first range is determined to said detected object using the first image frames. An image location is projected of the detected object in the first image frames onto an image location in the second image frames. A second range is determined to the detected object based on both the first and second image frames. The detected object is tracked in both the first and second image frames When the detected object leaves a field of view of the first camera, a third range is determined responsive to the second range and the second image frames.
    Type: Grant
    Filed: February 9, 2015
    Date of Patent: April 26, 2016
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventors: Gideon Stein, Amnon Shashua, Yoram Gdalyahu
  • Patent number: 9297641
    Abstract: A driver assistance systems mountable in a host vehicle while the host vehicle is moving forward with headlights on for detection of obstacles based on shadows. The driver assistance system includes a camera operatively connectible to a processor. A first image frame and a second image frame are captured of a road. A first dark image patch and a second dark image patch include intensity values less than a threshold value. The first and the second dark image patches are tracked from the first image frame to the second image frame as corresponding images of the same portion of the road. Respective thicknesses in vertical image coordinates are measured of the first and second dark image patches responsive to the tracking.
    Type: Grant
    Filed: December 11, 2012
    Date of Patent: March 29, 2016
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventor: Gideon Stein
  • Patent number: 9286810
    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: September 23, 2011
    Date of Patent: March 15, 2016
    Assignee: iRobot Corporation
    Inventors: Ethan Eade, Mario E. Munich, Philip Fong
  • Patent number: 9278695
    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: October 20, 2014
    Date of Patent: March 8, 2016
    Assignee: HYUNDAI MOTOR COMPANY
    Inventors: Ki Cheol Shin, Chang Jae Lee, Ee Suk Jung
  • Patent number: 9134132
    Abstract: A vehicle navigation of the present invention comprises: a storage unit which stores normal posture data of a vehicle black box; a communication unit which communicates with the vehicle black box; and a controller which obtains current posture data by analyzing data received from the vehicle black box, and determines whether the stored normal posture data is matched with the obtained current posture data. According to the present invention, the driver is notified in advance that the position of a camera is out of shape due to the repeated vibration or acceleration or the like of a vehicle. Thus, the driver can correct the vehicle black box, the camera equipped in the vehicle black box or the camera provided in the vehicle to the normal positions.
    Type: Grant
    Filed: January 13, 2011
    Date of Patent: September 15, 2015
    Assignee: Intellectual Discovery Co., Ltd.
    Inventors: Heungwon Kim, Seungwan Woo, Wonkeun Lee, Haeil Lee
  • Patent number: 9064418
    Abstract: A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.
    Type: Grant
    Filed: August 13, 2010
    Date of Patent: June 23, 2015
    Assignee: Hitachi Automotive Systems, Ltd.
    Inventors: Masayuki Takemura, Shoji Muramatsu, Isao Furusawa, Shinya Ohtsuji, Takeshi Shima, Yuji Otsuka, Tatsuhiko Monji
  • Patent number: 9035758
    Abstract: A method and a device for driver information, according to which a warning is produced on the basis of the lane information which indicates crossing of the lane edge. Upon branching of a roadway line, the particular outer lines are used as lane edge markings as the basis for the lane departure warning.
    Type: Grant
    Filed: July 15, 2005
    Date of Patent: May 19, 2015
    Assignee: ROBERT BOSCH GMBH
    Inventor: Alexander Maass
  • Patent number: 8977407
    Abstract: A method is provided for semi-automatic operation of a portable control device for a remote-controlled, unmanned vehicle. The method includes the steps of monitoring parameters of an operational environment of the portable control device, switching from a manual operation mode to a semi-automatic operation mode in response to occurrence of predetermined criteria within the operational environment, and presenting a semi-automatic operation graphical user interface to a user of the portable control device. The semi-automatic operation graphical user interface includes a reduced set of user interfaces for the semi-automatic operation mode presented by the portable control device.
    Type: Grant
    Filed: May 27, 2009
    Date of Patent: March 10, 2015
    Assignee: Honeywell International Inc.
    Inventors: Michael Christian Dorneich, Stephen Whitlow, William Rogers, Karen Feigh, Robert E. De Mers
  • Patent number: 8958986
    Abstract: A parking assistance apparatus includes a display unit that displays an image of a scene behind a host vehicle. At least when the host vehicle moves forward or when the host vehicle is stopped, the display unit displays an indication including a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle.
    Type: Grant
    Filed: June 28, 2011
    Date of Patent: February 17, 2015
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Kazunori Kagawa, Yuka Sobue, Satoru Niwa, Shin Tanaka, Akihisa Yokoyama, Kazuhiro Morimoto, Junichi Wakita, Chika Yoshioka, Yu Hiei, Ryuji Okamura
  • Patent number: 8939842
    Abstract: The present disclosure relates to a robotic system including one or more self-propelled motorized vehicles 120 (SPMV) whose motion is controlled in accordance with electronic image data acquired by one or more observing camera(s) 110 configured to image a scene including the SPMV 120. In some embodiments, the SPMV includes one or more on-board lights 124, and the SPMV is operated according to analyzing images acquired by the observing camera before and after an illumination transition of one or more of the point-lights. Some embodiments relate techniques to computer gaming and/or to stereoscopic image processing techniques.
    Type: Grant
    Filed: January 13, 2010
    Date of Patent: January 27, 2015
    Assignee: Meimadtek Ltd.
    Inventor: Eric Ehrmann
  • Patent number: 8935088
    Abstract: An object is to prevent a driving assistance system for a vehicle from causing a collision of the driver's own vehicle with a solid object by performing driving assistance. To achieve the object, when a solid object that can be an obstacle exists in the course of the driver's own vehicle, the driving assistance system for a vehicle according to the present invention determines a plurality of primary paths along which the driver's own vehicle can travel by changing the momentum thereof, designates an avoidance line along which the solid object can be avoided from among the primary paths, and changes the momentum of the driver's own vehicle in such a way that the driver's own vehicle travels along the selected avoidance line.
    Type: Grant
    Filed: October 3, 2011
    Date of Patent: January 13, 2015
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Toshiyuki Matsubara
  • Publication number: 20150009318
    Abstract: A driving safety system for a vehicle includes a housing, a camera positioned on the housing, and a controller positioned on the housing and electrically coupled to the camera. The controller includes a plurality of modules whereby the camera captures images of the scene in front of the vehicle and an image identification module identifies a traffic light state and a value of a countdown timer in real time from the captured images and sends a corresponding signal to the micro control unit, then the micro control unit will warn the driver as to the states of the traffic lights and countdown timer. A vehicle using the driving safety system is also disclosed.
    Type: Application
    Filed: July 7, 2014
    Publication date: January 8, 2015
    Inventor: DA-YI PENG
  • Patent number: 8917321
    Abstract: A failure-determination apparatus is provided with: a radar device (2); a camera unit (3); a moving target determination unit (12) that determines whether or not the object detected by the radar device (2) is a moving target; an object extraction unit (13) that extracts a specific object from the image captured by the camera unit (3); and a failure-determination unit (14) that determines that the camera unit (3) is in an abnormal state when the object which has been determined to be the moving target by the moving target determination device (12), cannot be determined to be the specific object by the object extraction unit (13).
    Type: Grant
    Filed: July 8, 2013
    Date of Patent: December 23, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yoji Sasabuchi, Hiroyuki Koike
  • Patent number: 8890951
    Abstract: A method for detecting a clear path of travel for a vehicle utilizing analysis of an image generated by a camera device located upon the vehicle includes monitoring the image, identifying through patch-based clear path detection analysis of the image a first patch within the image that indicates a not clear path, analyzing the first patch through patch smoothing, invalidating the first patch based upon the analyzing the first patch through patch smoothing, utilizing the invalidated first patch to define a clear path of travel for the vehicle, and utilizing the clear path of travel to navigate the vehicle.
    Type: Grant
    Filed: October 19, 2009
    Date of Patent: November 18, 2014
    Assignees: GM Global Technology Operations LLC, Carnegie Mellon University
    Inventors: Wende Zhang, Qi Wu, Tsuhan Chen
  • Patent number: 8867788
    Abstract: A vehicle periphery monitoring device includes: a first edge image generation element 5 which generates a first edge image on the basis of luminance components of a captured image acquired by an in-vehicle camera 2; a second edge image generation element 6 which generates a second edge image on the basis of hue components or saturation components of the captured image; a composite edge image generation element 7 which generates a composite edge image formed by combining the first edge image and the second edge image; and an object classification identification element 8 which identifies whether or not the object is a prescribed kind of structure on the basis of the external shape of the object represented by the composite edge image.
    Type: Grant
    Filed: June 30, 2011
    Date of Patent: October 21, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventor: Yosuke Sakamoto
  • Patent number: 8803966
    Abstract: A method for detecting a clear path of travel for a vehicle using a current image generated by a camera includes defining an exemplary clear path for each of a plurality of sample images, identifying features within each of the plurality of sample images, monitoring the current image generated by the camera, identifying features within the current image, matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images, determining a clear path of travel based upon the matching and the exemplary clear path for each of the matched sample images, and utilizing the clear path of travel to navigate the vehicle.
    Type: Grant
    Filed: October 19, 2009
    Date of Patent: August 12, 2014
    Assignees: GM Global Technology Operations LLC, Carnegie Mellon University
    Inventors: Wende Zhang, Qi Wu, Tsuhan Chen
  • Patent number: RE45452
    Abstract: A system for and a method of synchronous acquisition of pulsed source light performs monitoring of aircraft flight operation. Diode sources of illumination (18, 108, 208) are pulsed (16, 106, 206) at one-half the video frame rate of an imaging camera (36, 136, 236). Alternate frames view the world-scene with lights of interest pulsed on, and then off, respectively. Video differencing (34, 134, 234) eliminates the background scene, as well as all lights not of interest. Suitable threshholding over a resulting array of camera pixel-differences acquires the desired lights and represents them as point symbology on a display (40, 140, 240). In an enhanced vision landing system embodiment, the desired lights (symbols) overlay or are fused on a thermal image of the scene; alternatively, the symbols overlay a visible scene (TV) image.
    Type: Grant
    Filed: November 18, 2013
    Date of Patent: April 7, 2015
    Assignee: Max-Viz, Inc.
    Inventors: J. Richard Kerr, Gregory A. Zuro, Michael E. Fossey
  • 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