Vehicle Or Traffic Control (e.g., Auto, Bus, Or Train) Patents (Class 382/104)
  • Patent number: 11120570
    Abstract: A method for obtaining road marking data and a device thereof are provided. The method includes steps of: obtaining coordinates of calibration references on a to-be-marked road; importing the coordinates of the calibration references into an electronic image of the to-be-marked road; determining, according to a difference between the coordinates of the calibration references and coordinates of to-be-calibrated points corresponding to the calibration references in a road image included in the electronic image, whether to perform a calibration on the coordinates of the to-be-calibrated points; and when the difference is greater than a threshold, performing the calibration on the coordinates of the to-be-calibrated points, and using calibrated coordinates of the to-be-calibrated points as road marking data. By applying the present disclosure, the accuracy of road marking data can be improved.
    Type: Grant
    Filed: October 4, 2019
    Date of Patent: September 14, 2021
    Assignee: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION
    Inventors: Hsiencheng Lee, Chenxu Jiang, Yuan Cao, Zhenzhong Yu, Liang Ding, Fuchen Zhao, Kerui Xia, Quan Wang, Long Guo
  • Patent number: 11120278
    Abstract: The invention relates to a method for supporting an advanced driver assistance system in a motor vehicle, comprising the following steps: providing a map, wherein categorized objects are stored in associated positions in the map, capturing environment data using at least one environment sensor system of the advanced driver assistance system, analyzing the captured environment data using an analysis apparatus of the advanced driver assistance system, wherein the captured environment data are analyzed for object recognition according to the categorized objects stored in the map. Furthermore, the invention relates to an associated device.
    Type: Grant
    Filed: June 13, 2017
    Date of Patent: September 14, 2021
    Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventors: Max Stephan, Kristian Weiss, Sascha Bauer, Mehmet Eylem Kirlangic, Andreas Wege, Robert Konnopka, Lars Krüger, Jesko Klandt, Christian Tendyck
  • Patent number: 11118911
    Abstract: A method of creating a local map includes: receiving, at a mobile electronic data processing apparatus, a request from a server to generate a map of a specified destination; sending to the server a message accepting the request to generate the map responsive to receiving, at a user input of the mobile electronic data processing device, a user command indicating acceptance of the request; generating, using a processor, information related to construction of the map; an transmitting, from the mobile electronic data processing apparatus, the information related to construction of the map.
    Type: Grant
    Filed: March 16, 2018
    Date of Patent: September 14, 2021
    Assignee: Apple Inc.
    Inventors: Alex Flint, Oleg Naroditsky, Andriy Grygorenko, Oriel Bergig
  • Patent number: 11122343
    Abstract: Personalized video interjections based on a learner model and a learning objective. A method for adding interjections to a video includes analyzing the content of a plurality of videos based on a set of learning objectives, selecting a video based on a learning objective, determining types of video interjections using an analytics engine that compares a learner model and the learning objective, determining a location for the video interjections using the analytics engine, generating a video interjection for each video interjection type and inserting the video interjections into the video at the determined locations.
    Type: Grant
    Filed: November 5, 2019
    Date of Patent: September 14, 2021
    Assignees: International Business Machines Corporation, Sesame Workshop
    Inventors: Ravindranath Kokku, Tamer E. Abuelsaad, Prasenjit Dey, Jodi M. Cutler, Allison C. Allain, Aditya Sinha, Satyanarayana V. Nitta, Miles Ludwig, Emily Reardon, Nick Bartzokas, James Gray, Michelle Newman-Kaplan
  • Patent number: 11114323
    Abstract: A vehicle includes one or more travel portions each configured to travel along a rail track, a travel controller configured to perform an image recognition to determine a shape of a portion of the rail track based on an image captured by an imaging device supported by the vehicle and to control the one or more travel portions based on a result of the image recognition, an information obtaining portion configured to obtain position information of each of a plurality of locations that the vehicle travels past as a result of traveling along the rail track, and to obtain the order in which the vehicle travels past such plurality of locations, and memory configured to store information obtained by the information obtaining portion.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: September 7, 2021
    Assignee: Daifuku Co., Ltd.
    Inventors: Daisuke Ogawa, Tsubasa Yajima
  • Patent number: 11106921
    Abstract: The present disclosure provides a method and an apparatus for determining road information, a vehicle and a computer readable storage medium. The method includes: triggering the camera to capture M images during driving, M being an integer not less than 2; performing three-dimensional reconstruction based on the M images to obtain a three-dimensional model; determining a first vector of the three-dimensional model, the first vector indicating a gravity direction in the three-dimensional model; and determining the road information of a road where the vehicle is located based on M spatial positions and the first vector, the M spatial positions being spatial positions of a center of the camera in the three-dimensional model at M time points and the M images are captured by the camera respectively at the M time points, the road information including a slope type and/or a slope value.
    Type: Grant
    Filed: December 28, 2019
    Date of Patent: August 31, 2021
    Assignee: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD.
    Inventor: Yang Yang
  • Patent number: 11104332
    Abstract: A vehicle may include a primary system and a secondary system to validate operation of the primary system and to control the vehicle to avoid collisions. For example, the secondary system may receive multiple trajectories from the primary system, such as a primary trajectory and a secondary, contingent, trajectory associated with a deceleration or other maneuver. The secondary system may determine if a trajectory is associated with a potential collision, if the trajectory is consistent with a current or previous pose, if the trajectory is compatible with a capability of the vehicle, etc. The secondary system may select the primary trajectory if valid, the secondary trajectory if the primary trajectory is invalid, or another trajectory generated by the secondary system if the primary trajectory and the secondary trajectory are invalid. If no valid trajectory is determined, the vehicle may decelerate at a maximum rate.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: August 31, 2021
    Assignee: Zoox, Inc.
    Inventors: Andrew Lewis King, Jefferson Bradfield Packer, Robert Edward Somers, Marc Wimmershoff
  • Patent number: 11106940
    Abstract: A method and a device for improved training of a classifier. For this purpose, the device for detecting an object has a first image recording device, which is situated in a first position for recording the object from a first perspective. The device furthermore has a stored first classifier, which is configured to detect the object based on the recorded first perspective. At least one second image recording device is situated in a second position for recording the object from a second perspective, which differs from the first perspective. Furthermore, a data processing device is configured to detect the object recorded by the first image recording device based on the first classifier and to assign to the second perspective a class predetermined by the first classifier. This makes it possible to expand the existing classifier to include the detection of the object from different additional perspectives.
    Type: Grant
    Filed: May 8, 2019
    Date of Patent: August 31, 2021
    Assignee: Robert Bosch GmbH
    Inventors: Gregor Schwarzenberg, Hendrik Kurre, Johannes-Joerg Rueger, Udo Schulz
  • Patent number: 11105141
    Abstract: A control device includes: a detection unit that detects a reference position indicating a position serving as a reference among passenger's predetermined portions based on a captured image captured by an imaging device that images an interior of a vehicle; and a control unit that is provided in the vehicle and performs control such that, during a closing operation of an openable and closable opening and closing member, the closing operation of the opening and closing member is interrupted, when a coordinate value of the reference position detected by the detection unit exceeds a threshold value.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: August 31, 2021
    Assignee: AISIN SEIKI KABUSHIKI KAISHA
    Inventors: Kosuke Kito, Takuro Oshida, Osamu Uno, Satoshi Mori, Shingo Fujimoto
  • Patent number: 11097653
    Abstract: A vehicle lamp system includes an imaging unit that takes an image ahead of a host vehicle, a luminance analyzer that detects luminance of each of areas ahead of the host vehicle, a target analyzer that detects objects ahead of the host vehicle, a tracking unit that determines a specific object from the detected objects and detects displacement of the specific object based on a detection result of the luminance; a setting unit that sets, based on the detection result of the luminance and a detection result of the displacement, an illuminance value for each area, which includes a specific illuminance for a specific area determined according to a position where the specific target is present, and a controller that controls the light source the illuminance of the light to be radiated from a light source to each area based on the illuminance values set by the setting unit.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: August 24, 2021
    Assignee: KOITO MANUFACTURING CO., LTD.
    Inventors: Yoshinori Shibata, Takao Muramatsu
  • Patent number: 11100315
    Abstract: A video display system for a vehicle includes a video display device disposed in the vehicle so as to be viewable by a driver of the vehicle. A camera is disposed at the vehicle and having an exterior field of view and operable to capture image data. A control includes a data processor. The control, responsive at least in part to processing by the data processor of captured image data, detects an object present exterior of the vehicle that is in the field of view of the camera, and determines if the detected object constitutes a hazardous condition. Responsive to determination of the hazardous condition, the control controls the video display device to automatically display an alert to the driver of the vehicle, with the alert including display of video images of the object that are derived from captured image data or a graphic overlay on displayed video images.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: August 24, 2021
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Mark E. Kramer, Niall R. Lynam, David P. O'Connell, Vernon R. Nise
  • Patent number: 11091143
    Abstract: Disclosed herein are an apparatus and method for compensating for a heading angle. The apparatus for compensating for a heading angle includes a compensation condition determination unit configured to determine whether a predetermined compensation condition is satisfied, to compensate for a heading angle of a camera, and a heading angle processing unit configured to compensate for the heading angle of the camera using a lane distance input from the camera, when it is determined by the compensation condition determination unit that the compensation condition is satisfied.
    Type: Grant
    Filed: July 3, 2019
    Date of Patent: August 17, 2021
    Assignee: Hyundai Mobis Co., Ltd.
    Inventors: Kyung Jin Ryu, Nam Soo Kim, Jun hyeong Oh
  • Patent number: 11093761
    Abstract: A system and method to perform lane position sensing and tracking in a vehicle include using a first camera with a first field of view of a first side of the vehicle and a second camera with a second field of view on a second side of the vehicle to capture images. The method includes determining if a first lane line on a first side of the vehicle and a second lane line on the second side of the vehicle are both visible, and based on the first lane line and the second lane line being visible, determining, a position of the vehicle in a lane between the first lane line and the second lane line and determining a trajectory of the first lane line and the second lane line and of the vehicle.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: August 17, 2021
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Hossein Sadjadi, Syed Ali Raza, Matthew G. Adams
  • Patent number: 11089239
    Abstract: One general aspect includes a system to modify an image feed from a second camera of a vehicle, the system includes a memory configured to include one or more executable instructions and a processor configured to execute the executable instructions, where the executable instructions enable the processor to receive a first image feed from a first camera located on the vehicle; monitor one or more image characteristics of the first image feed; receive the second image feed from the second camera located on the vehicle; and based on the monitored one or more image characteristics of the first image feed, modify the second image feed such that one or more image characteristics of the second image feed are substantially similar to the monitored one or more image characteristics of the first image feed.
    Type: Grant
    Filed: May 19, 2020
    Date of Patent: August 10, 2021
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Mohannad Murad, Wende Zhang, Sai Vishnu Aluru, Christopher A. Stanek
  • Patent number: 11087148
    Abstract: Driver assistance systems for detecting a structural barrier extending along a road. The driver assistance system may be mountable in a host vehicle. The camera may capture multiple image frames in the forward field of view of the camera. A processor may process motion of images of the barrier in the image frames. The camera may be a single camera. The motion of the images may be responsive to forward motion of the host vehicle and/or the motion of the images may be responsive to lateral motion of the host vehicle.
    Type: Grant
    Filed: October 11, 2019
    Date of Patent: August 10, 2021
    Assignee: Mobileye Vision Technologies Ltd.
    Inventor: Gideon Stein
  • Patent number: 11073401
    Abstract: Methods, systems and apparatus, including computer programs encoded on computer storage media for determining asset efficiency. Unmanned Aerial Vehicles (UAVs) may be used to obtain aerial images of locations, property or structures. The aerial images may be geo-rectified, and a ortho-mosaic, digital surface model, or a point cloud may be created. In the context of an operation where mobile assets are used, such as construction or earth moving equipment, location-based event information may be obtained. The location-based event information may be used to determine road segment conditions or road topology where problematic road conditions likely exist.
    Type: Grant
    Filed: March 9, 2018
    Date of Patent: July 27, 2021
    Assignee: Skydio, Inc.
    Inventors: Fabien Blanc-Paques, Mark Christian, Donald Curry Weigel
  • Patent number: 11074827
    Abstract: The subject disclosure relates to a simulation system having an aircraft, a local wireless transceiver, and a simulation computer. The aircraft may include an onboard wireless transceiver and a flight controller operatively coupled with an onboard sensor payload to perceive a physical environment and to generate position and pose data. The simulation computer may be configured to communicate wirelessly with the aircraft via the local wireless transceiver. In operation, the simulation computer may be configured to generate one or more virtual reality sensor inputs and to receive the position and pose data from the aircraft. The simulation computer can be configured to transmit the one or more virtual reality sensor inputs to the flight controller of the aircraft.
    Type: Grant
    Filed: July 3, 2018
    Date of Patent: July 27, 2021
    Assignee: Aurora Flight Sciences Corporation
    Inventors: Jae-Woo Choi, James D. Paduano
  • Patent number: 11062153
    Abstract: Provided are an apparatus and a method for converting an image. The apparatus includes an image sensor configured to obtain an image of a road, and a processor. The processor is configured to segment an input image into a plurality of region images, determine a vanishing point corresponding to each of the plurality of region images, obtain a translation relation for converting two-dimensional (2D) coordinates of a point in a region image among the plurality of region images into three-dimensional (3D) coordinates, based on a vanishing point of the region image, and generate road profile data based on translation relations of the plurality of region images.
    Type: Grant
    Filed: August 5, 2019
    Date of Patent: July 13, 2021
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jae-woo Lee, Yoon-suk Hyun, Ja-hoo Koo, Cheol-hun Jang, Dae-hyun Ji
  • Patent number: 11064177
    Abstract: An image processing apparatus includes a first generator configured to generate a first distance image corresponding to a first distance from an imager, by using an image captured by the imager; a second generator configured to generate a second distance image corresponding to a second distance that is further away from the imager than the first distance, by using an image captured by the imager; a reducer configured to reduce the first distance image; a first detector configured to detect a body positioned within the first distance, based on the first distance image reduced by the reducer; and a second detector configured to detect a body positioned within the second distance, based on the second distance image.
    Type: Grant
    Filed: August 20, 2018
    Date of Patent: July 13, 2021
    Assignee: RICOH COMPANY, LTD.
    Inventor: Genki Watanabe
  • Patent number: 11062461
    Abstract: An object position and/or orientation can be determined based on image data and object contact points. Image data can be captured representing an object, such as a vehicle. Vehicle contact points can be identified in the image data representing wheel contacts with the ground. For an individual vehicle contact point (e.g., a left-front wheel of the second vehicle), a ray can be determined that emanates from the image sensor and passes through the vehicle contact point. To determine a location and velocity of the vehicle, the ray can be unprojected onto a three-dimensional surface mesh, and an intersection point between the ray and the three-dimensional surface mesh can be used as an initial estimate for the projected location of the vehicle contact point in the world. The estimated location can be adjusted based on various cost functions to optimize an accuracy of the locations of the estimated vehicle contact points.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: July 13, 2021
    Assignee: Zoox, Inc.
    Inventors: Vasiliy Karasev, Juhana Kangaspunta, James William Vaisey Philbin
  • Patent number: 11062529
    Abstract: Generally discussed herein are systems, devices, and methods for improved automatic toll generation. A system can include one or more cameras positioned to capture images of vehicles passing through a toll station, vehicle detection and classification circuitry to receive an image of a vehicle from the one or more cameras and execute a first machine learning (ML) model to classify the vehicle, axle count circuitry to, in response to receiving data from the vehicle detection and classification circuitry that a vehicle was detected, execute a second ML model to classify a number of axles of the vehicle for determining a toll charge, and toll circuitry to issue the toll charge based on the classified number of axles.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: July 13, 2021
    Assignee: Raytheon Company
    Inventors: Jacob W. Gallaway, Nathan D. Davis, Jeremy J. Gerhart
  • Patent number: 11060848
    Abstract: A device comprising an imaging unit for capturing an image of a target object and of an accessory. The accessory comprises a reference target object having a known retroreflective coefficient. The device also comprises a calculating unit for calculating a value of a retroreflective coefficient of the target object based on a comparison of the image of the target to the image of the accessory.
    Type: Grant
    Filed: January 30, 2020
    Date of Patent: July 13, 2021
    Assignee: 3M INNOVATIVE PROPERTIES COMPANY
    Inventors: Fumio Karasawa, Andreas M. Geldmacher, Guruprasad Somasundaram
  • Patent number: 11062157
    Abstract: Disclosed are an apparatus and a method for detecting a fallen object which adjust a passenger's seat to easily pick up the fallen object in the vehicle. A fallen object detecting apparatus according to one embodiment of the present disclosure is an apparatus for detecting a fallen object in a vehicle which includes a camera configured to generate at least one image of an inside of the vehicle; an image identifier configured to identify at least one passenger and at least one object from the image, and to determine a location of the fallen object in response to a falling of the object in the vehicle; and a controller configured to provide the determined location of the fallen object via at least one component located in the vehicle and adjust a seat of the passenger based on the location of the fallen object and a condition of the passenger.
    Type: Grant
    Filed: September 18, 2019
    Date of Patent: July 13, 2021
    Assignee: LG ELECTRONICS INC.
    Inventors: Chul Hee Lee, Hyun Kyu Kim, Ki Bong Song, Sang Kyeong Jeong, Jun Young Jung
  • Patent number: 11055624
    Abstract: The generation and/or use of probabilistic heat maps for use in predicting the behavior of entities in an environment is described. In an example, a computing device(s) can receive sensor data from sensors of a vehicle in an environment. The computing device(s) can determine, based at least in partly on the sensor data, a location of an entity in the environment, and a first characteristic associated with the entity or the environment (type, velocity, orientation, etc.). The computing device(s) can access, from a database, a heat map generated from previously collected sensor data associated with the environment. The computing device(s) can perform a look-up using the heat map based at least partly on the location of the entity and the first characteristic, and can determine a predicted behavior of the entity at a predetermined future time based on a pattern of behavior associated with a cell in the heat map.
    Type: Grant
    Filed: November 8, 2017
    Date of Patent: July 6, 2021
    Assignee: Zoox, Inc.
    Inventors: Benjamin Sapp, Yilun Wang, James William Vaisey Philbin
  • Patent number: 11048962
    Abstract: The invention relates to a method and to a device for determining the articulation angle of a combination, consisting of a towing vehicle and a trailer attached using a tongue, by identifying the hitch tongue using a digital back-up camera with variable exposure times, the following steps being carried out: a) recording a first color image of the rear environment of the towing vehicle, the color image being based on the HSY color space, b) analyzing the hue values, saturation values and brightness values of adjacent surfaces of a vehicle-environment region that is to be evaluated, c) determining the tongue from the first color image using an edge detection method in order to determine the articulation angle if the hue values, saturation values and brightness values of adjacent surfaces in the region that is to be evaluated are substantially equal, “substantially equal” meaning that the values of hue, saturation and brightness of adjacent surfaces differ by at most a first threshold in percent, d) recording a
    Type: Grant
    Filed: May 3, 2018
    Date of Patent: June 29, 2021
    Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventors: Marco Jähnisch, Oliver Berger, Christoph Erfurth
  • Patent number: 11047700
    Abstract: A computing system can receive image data corresponding to an image of a passenger interior of the vehicle from a computing device of a vehicle or a driver. Using the image data, the computing system can determine at least one of (i) a first route for the vehicle or the driver to travel to a start location of a requesting user, or (ii) a second route for the requesting user to travel to the start location. The computing system may then transmit at least one of (i) navigation instructions based on the first route to the computing device of the vehicle or the driver, or (ii) navigation instructions based on the second route to a computing device of the requesting user.
    Type: Grant
    Filed: February 1, 2019
    Date of Patent: June 29, 2021
    Assignee: UBER TECHNOLOGIES, INC.
    Inventor: Andrew Martin Warr
  • Patent number: 11048266
    Abstract: A method and apparatus for recognizing an object are provided, the method including extracting a feature from an input image and generating a feature map in a neural network. In parallel with the generating of the feature map, a region of interest (ROI) corresponding to an object of interest is extracted from the input image, and a number of object candidate regions used to detect the object of interest is determined based on a size of the ROI. The object of interest is recognized from the ROI based on the number of object candidate regions in the neural network.
    Type: Grant
    Filed: May 30, 2018
    Date of Patent: June 29, 2021
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: PaulBarom Jeon
  • Patent number: 11048971
    Abstract: In a method for training an image generation model, a first generator generates a first sample matrix, a first converter generates a sample contour image, a first discriminator optimizes the first generator and the first converter, a second generator generates a second sample matrix according to the first sample matrix, a second converter generates a first sample grayscale image, a second discriminator optimizes the second generator and the second converter, a third generator generates a third sample matrix according to the second sample matrix, a third converter generates a second sample grayscale image, a third discriminator optimizes the third generator and the third converter, a fourth generator generates a fourth sample matrix according to the third sample matrix, a fourth converter generates a sample color image, and a fourth discriminator optimizes the fourth generator and the fourth converter. The image generation model can be trained easily.
    Type: Grant
    Filed: December 24, 2019
    Date of Patent: June 29, 2021
    Assignee: Ping An Technology (Shenzhen) Co., Ltd.
    Inventors: Jinghong Miao, Bo Gong, Mei Han
  • Patent number: 11043001
    Abstract: A method of high precision object location in a parking lot including capturing via an entry stereo camera a template image and an entry video of a vehicle entering a parking lot, measuring a distance versus time of the vehicle entering the parking lot based on the entry video, line scanning via at least one LIDAR an outline versus time of the vehicle entering the parking lot, constructing a scanned image based on the measured distance versus time and the outline versus time and forming a three dimensional construct of the vehicle based on the template image and the scanned image.
    Type: Grant
    Filed: January 10, 2019
    Date of Patent: June 22, 2021
    Assignee: Black Sesame International Holding Limited
    Inventors: Tao Zhang, Weihong Liu
  • Patent number: 11041729
    Abstract: A method for determining a global position of a first landmark is provided, wherein at least one first and one second measurement data set are recorded. A first reference point and a first recording space are assigned to the first measurement data set, and a second reference point and a second recording space are assigned to the second measurement data set. A spatial correlation of the first and second landmark relative to each other is determined using the first measurement data set. The global position of the first landmark relative to a global reference point is determined by determining a first and second relative position of the first landmark, by determining a first relative position of the second landmark, and by using the determined spatial correlation.
    Type: Grant
    Filed: March 17, 2017
    Date of Patent: June 22, 2021
    Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventors: Christian Merfels, Ugur Kekec
  • Patent number: 11034293
    Abstract: A system and a method automatically generate warnings intended for users of a road on board an automobile. The system includes sensors, an on-board programmable electronic device, and at least one audible or visual warning device. The programmable electronic device includes at least one processor configured to detect traffic elements, and a module for analyzing traffic elements, such that each detected traffic element is associated with a predetermined category and an associated confidence level is calculated. A module determines an at-risk situation from among a number of predetermined risk situations. At least one of the traffic elements is associated with at least one user of the road outside said vehicle. A command module warns the user of the road of the detected risk.
    Type: Grant
    Filed: September 25, 2019
    Date of Patent: June 15, 2021
    Assignee: TRANSDEV GROUP INNOVATION
    Inventors: Thomas Darnaud, Cem Karaoguz, William Levassor, Louis Baudet
  • Patent number: 11034299
    Abstract: A vehicular vision system includes a camera disposed at an exterior portion of a body side of the equipped vehicle and viewing sideward and rearward of the equipped vehicle. A video display screen is disposed in an interior cabin of the equipped vehicle and operable to display video images. When no other vehicle is detected in another traffic lane, the video display screen displays video images representative of a first portion of the exterior scene viewed by the camera. Responsive to determination that another vehicle is in the other traffic lane and approaching from rearward of the equipped vehicle, the video display screen displays video images representative of a second portion of the exterior scene that includes the determined other vehicle. Responsive to detection of the other vehicle, the video display screen displays a graphic overlay overlaying the displayed video images representative of the second portion of the exterior scene.
    Type: Grant
    Filed: October 15, 2020
    Date of Patent: June 15, 2021
    Assignee: MAGNA MIRRORS OF AMERICA, INC.
    Inventors: Kenneth C. Peterson, Gregory A. Huizen, Niall R. Lynam
  • Patent number: 11030472
    Abstract: A system and method is disclosed for capturing images of one or more moving vehicles (i.e., a target vehicle) from another moving vehicle (i.e., subject vehicle). The disclosed system dynamically adjusts illumination power, exposure times, and/or other settings to optimize image capture that takes into account distance and speed. By optimizing for distances and moving vehicles, the disclosed system improves the probability of capturing a legible, usable photographic image. In one example, the disclosed system may be incorporated into an asymmetric license plate reading (ALPR) system.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: June 8, 2021
    Assignee: Axon Enterprise, Inc.
    Inventor: Juha Alakarhu
  • Patent number: 11032372
    Abstract: A system for data access comprises a server storage system, a global index, an interface, and a processor. The server storage system stores data associated with vehicle event recorders. The global index includes indications of server-stored data stored on the server storage system. The interface is configured to receive an access indication to access desired data. The processor is configured to determine a server stored portion of the desired data associated with the vehicle event recorder that has been previously stored on the server storage system using information stored in the global index and retrieve the server stored portion of the data from the server storage system; and determine a non-server stored portion of the desired data associated with the vehicle event recorder that has not been previously stored on the server storage system and indicate to retrieve the non-server stored portion of the data from the vehicle event recorder.
    Type: Grant
    Filed: October 14, 2019
    Date of Patent: June 8, 2021
    Assignee: Lytx. Inc.
    Inventor: Jeremiah Todd Wittevrongel
  • Patent number: 11030898
    Abstract: A method, a system, and a computer program product may be provided for updating a map database to indicate presence status of a road sign. The method may include receiving a road sign observation from at least one vehicle. The method may further include determining a road sign confidence score based on the received road sign observation, wherein the road sign observation comprises at least one of a positive road sign observation and a negative road sign observation. Additionally, the method may include updating the map database to indicate the presence status of the road sign based on the road sign confidence score being above a predetermined threshold, wherein the confidence score is based on at least one of the positive road sign observation and the negative road sign observation.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: June 8, 2021
    Assignee: HERE Global B.V.
    Inventors: Zhenhua Zhang, Leon Stenneth
  • Patent number: 11023502
    Abstract: A data capturing system for use with aerial spherical imagery is provided. The system allows for capturing and tracking of data with respect to those accessing and viewing particular aerial spherical imagery, such as the imagery on a GIS map. The data capturing system may include a server having a processor and a memory and a software application providing instruction to the server to display aerial spherical imagery, such as spherical imagery, to a user through a network connection, such as through the Internet. For example the system may provide the map as a web site to the user that is displayed on a remote computing device accessible by the user in order to view the spherical imagery. Data related to the interaction of the user with the website is captured and tracked in order to use such data for other purposes.
    Type: Grant
    Filed: February 18, 2020
    Date of Patent: June 1, 2021
    Assignee: Aerial Sphere, LLC
    Inventors: Dennis J. Vegh, John C. Femiani, Michael Katic, Anshuman Razdan
  • Patent number: 11024160
    Abstract: A method is provided for optimizing the use of autonomous features of advanced driver assistance systems and the tracking thereof. For example, a vehicle may be equipped with several driver assistance systems in which a driver of the vehicle may be assisted. The vehicle may automatically change the number of active assistance systems or suggest to the driver one or more assistance systems to activate based on several factors, including poor driving on behalf of the driver or poor driving conditions due to weather or road quality. Statistics regarding the use of such advanced driver assistance systems may be monitored and tracked and stored on an onboard database or transmitted continuously or periodically to various entities. For example, the system may operate to allow an insurance company to track the driving performance and the use of the advanced driver assistance systems to update actuarial models to more accurately adjust rates.
    Type: Grant
    Filed: December 28, 2016
    Date of Patent: June 1, 2021
    Assignee: NIO USA, Inc.
    Inventor: Christopher P. Ricci
  • Patent number: 11023784
    Abstract: A method and apparatus for processing image data is provided. The method includes the steps of employing a main processing network for classifying one or more features of the image data, employing a monitor processing network for determining one or more confusing classifications of the image data, and spawning a specialist processing network to process image data associated with the one or more confusing classifications.
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: June 1, 2021
    Assignee: Edge 3 Technologies, Inc.
    Inventor: Tarek El Dokor
  • Patent number: 11023744
    Abstract: A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter.
    Type: Grant
    Filed: April 3, 2018
    Date of Patent: June 1, 2021
    Assignee: DENSO CORPORATION
    Inventors: Taiki Kawano, Naoki Kawasaki, Shunsuke Suzuki, Shunya Kumano
  • Patent number: 11024052
    Abstract: Disclosed are systems and methods for acquiring height of a stereo camera, applied to the stereo camera. An example method includes acquiring angle information of a stereo camera, with the angle information including a pitch angle and a tilt angle. A ground image of a scenario where the stereo camera is deployed is captured and depth information of each pixel on the ground image is determined. A three-dimensional point set based on depth information of each pixel on the ground image is established, with the three-dimensional point set including coordinate information of each three-dimensional point corresponding to each pixel of the ground image. Height of the stereo camera is determined based on the angle information and the three-dimensional point set.
    Type: Grant
    Filed: August 22, 2019
    Date of Patent: June 1, 2021
    Assignee: Hangzhou Hikvision Digital Technology Co., Ltd.
    Inventors: Di Zhang, Hui Gong, Ye Ren
  • Patent number: 11023749
    Abstract: Techniques for determining predictions on a top-down representation of an environment based on vehicle action(s) are discussed herein. Sensors of a first vehicle (such as an autonomous vehicle) can capture sensor data of an environment, which may include object(s) separate from the first vehicle (e.g., a vehicle or a pedestrian). A multi-channel image representing a top-down view of the object(s) and the environment can be generated based on the sensor data, map data, and/or action data. Environmental data (object extents, velocities, lane positions, crosswalks, etc.) can be encoded in the image. Action data can represent a target lane, trajectory, etc. of the first vehicle. Multiple images can be generated representing the environment over time and input into a prediction system configured to output prediction probabilities associated with possible locations of the object(s) in the future, which may be based on the actions of the autonomous vehicle.
    Type: Grant
    Filed: July 5, 2019
    Date of Patent: June 1, 2021
    Assignee: Zoox, Inc.
    Inventors: Gowtham Garimella, Marin Kobilarov, Andres Guillermo Morales Morales, Kai Zhenyu Wang
  • Patent number: 11014557
    Abstract: Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.
    Type: Grant
    Filed: February 2, 2018
    Date of Patent: May 25, 2021
    Assignee: Waymo LLC
    Inventors: David I. Ferguson, Dmitri A. Dolgov
  • Patent number: 11017247
    Abstract: Camera image information includes an image that is imaged by a camera installed on a vehicle. Lamp pattern information, which is information on a traffic signal having plural lamp parts, indicates a relative positional relationship between the plural lamp parts and an appearance of each lamp part when lighted. A system detects a subject traffic signal around the the vehicle based on the camera image information to acquire traffic signal detection information that indicates at least an appearance of each of plural detected parts of the subject traffic signal. The system compares the traffic signal detection information with the lamp pattern information. The system recognizes a lighting state of the plural lamp parts that is consistent with the appearance of each of the plural detected parts of the subject traffic signal as a lighting state of the subject traffic signal.
    Type: Grant
    Filed: May 15, 2020
    Date of Patent: May 25, 2021
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Yusuke Hayashi, Taichi Kawanai, Kentaro Ichikawa
  • Patent number: 11016492
    Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object or sensor limitation. An occluded region for an object is determined, along with one or more visible regions proximate the occluded region. Entry and/or exit regions may be determined based on known directions of traffic and/or drivable surface boundaries. Based on a threshold speed, the vehicle can designate portions of the occluded region as pseudo-visible. Additionally, if a dynamic object traverses through the occluded region from the entry region, a portion of the occluded region may be considered pseudo-visible. Pseudo-visibility may also be determined based on movement of an occluded area. The vehicle can be controlled to traverse the environment based on the pseudo-visibility.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: May 25, 2021
    Assignee: Zoox, Inc.
    Inventors: Max Gier, William Anthony Silva
  • Patent number: 11009963
    Abstract: Sensors in a vehicle detect execution of a sign language symbol. The sign language symbol invokes a vehicle interface function. In some embodiments, the sign language symbol is an ASL sign. Sensors include three-dimensional optical, ultrasonic, or other sensors. The locations of targets (fingertips, knuckles, palm, etc.) are detected in the individual outputs of the sensors. The locations of targets determined from the outputs of multiple sensors may be associated with one another and filtered, such as using an RBMCDA algorithm and Kalman filtering. The system may be calibrated to detect each symbol by measuring the target locations with the user executing the each symbol.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: May 18, 2021
    Assignee: Ford Global Technologies, LLC
    Inventors: Alexander Groh, Mohannad Hakeem, Umer Khalid
  • Patent number: 11010612
    Abstract: An information generation device comprises a processor that acquires sensor information indicating a measurement result of a detection target area from each of a plurality of sensors having the detection target area that is common to the plurality of sensors, that determines whether or not each of the plurality of sensors detects an object existing in the same predetermined area on the basis of a plurality of pieces of the sensor information acquired, and that generates first display information for separately displaying the object that is detected by each of the plurality of sensors in a case where a determination result is positive and a predetermined condition for determining whether or not a plurality of the objects detected by the plurality of sensors are the same object is not satisfied, and generates second display information for displaying the object detected by each of the plurality of sensors in a display style different from a display style of the first display information in a case where the dete
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: May 18, 2021
    Assignee: Sumitomo Electric Industries, Ltd.
    Inventor: Yoshiaki Hayashi
  • Patent number: 11001300
    Abstract: The driving support system extracts edge points based on luminance of pixels, in which up edge point is the edge point where the luminance of the inner pixel is smaller than that of the outer pixel, down edge point is the edge point where the luminance of the outer pixel is smaller than the luminance of inner pixel. The system determines, among a plurality of line candidates acquired in accordance with the edge points location, a lane candidate excluding the line candidate that satisfies a predetermined exclusion condition, to be the lane marking, the line candidate determined as the lane marking being located most closely to the vehicle position. The exclusion condition includes a condition where the number of edge points of the up edge line is larger than or equal to a predetermined point threshold, compared to the number of edge points of the down edge line.
    Type: Grant
    Filed: November 8, 2018
    Date of Patent: May 11, 2021
    Assignee: DENSO CORPORATION
    Inventors: Shunya Kumano, Shunsuke Suzuki
  • Patent number: 11003923
    Abstract: Systems and methods for segmenting an image using a convolutional neural network are described herein. A convolutional neural network (CNN) comprises an encoder-decoder architecture, and may comprise one or more Long Short Term Memory (LSTM) layers between the encoder and decoder layers. The LSTM layers provide temporal information in addition to the spatial information of the encoder-decoder layers. A subset of a sequence of images is input into the encoder layer of the CNN and a corresponding sequence of segmented images is output from the decoder layer. In some embodiments, the one or more LSTM layers may be combined in such a way that the CNN is predictive, providing predicted output of segmented images. Though the CNN provides multiple outputs, the CNN may be trained from single images or by generation of noisy ground truth datasets. Segmenting may be performed for object segmentation or free space segmentation.
    Type: Grant
    Filed: January 7, 2019
    Date of Patent: May 11, 2021
    Assignee: Zoox, Inc.
    Inventors: Mahsa Ghafarianzadeh, James William Vaisey Philbin
  • Patent number: 10997740
    Abstract: An approach is provided for estimating a real-world depth information from a monocular image. The approach, for example, involves determining a vanishing point of the monocular image captured by a camera. The approach also involves generating a vanishing point ray from an optical center of the camera through the vanishing point on an image plane of the monocular image to infinity. The approach further involves generating a center line ray from the optical center through a geometric center of the image plane to a feature line that is parallel to the vanishing point ray at a lateral distance. The approach further involves generating a feature ray from the optical center through a location of the feature on the image plane to the feature line. The approach further involves computing the real-world distances of the feature based on image coordinates of the rays, lines, angles derived therefrom, and a known pixel-wise distance of the monocular image.
    Type: Grant
    Filed: July 15, 2019
    Date of Patent: May 4, 2021
    Assignee: HERE Global B.V.
    Inventors: Souham Biswas, Sanjay Kumar Boddhu
  • Patent number: 10996062
    Abstract: A data management system includes an information processing device and a data management device. The information processing device acquires an overall map from a storage in the data management device, estimates a location of the moving object at the time of capturing each of peripheral images that are determined to correspond to any of the key frame images which are stored in the storage among the peripheral images, and generate a local map representing each of the peripheral images which are determined as the key frame image. The management device updates a portion, corresponding to the local map, of the overall map stored in the storage based on the local map.
    Type: Grant
    Filed: May 3, 2019
    Date of Patent: May 4, 2021
    Assignee: FUJITSU LIMITED
    Inventors: Atsunori Moteki, Taichi Murase