Automatic Route Guidance Vehicle Patents (Class 701/23)
  • Patent number: 11364928
    Abstract: Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: June 21, 2022
    Assignee: Waymo LLC
    Inventors: Ethan Stark, Daniel Trawick Egnor, Ryan Cash, Andrew Schultz
  • Patent number: 11367361
    Abstract: Methods, computer program products, and systems are presented. The method computer program products, and systems can include, for instance: examining data specifying a plurality of alternative candidate routes for travel by an unmanned aerial vehicle (UAV) from a current location of the UAV to a destination location; selecting one of the alternative candidate routes as a selected route for travel by the UAV; and controlling the UAV so that while the UAV travels along the selected route the UAV emulates a ground based vehicle (GBV).
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: June 21, 2022
    Assignee: Kyndryl, Inc.
    Inventors: Brian M. O'Connell, James E. Bostick, Martin G. Keen, John M. Ganci, Jr.
  • Patent number: 11358613
    Abstract: Disclosed herein are an autonomous vehicle and a service providing system and method using the same. The autonomous vehicle includes a navigation system setting, as a destination, a service zone adjacent to a parking lot when there is a previously registered vehicle service input through a user terminal, and setting, as a destination, the parking lot adjacent to the service zone after completion of the previously registered vehicle service, and an operation system moving the vehicle to the destination through autonomous driving. One or more of the autonomous vehicle, the user terminal, and the server may be associated with artificial intelligence, a robot, augmented reality (AR), virtual reality (VR), or the like.
    Type: Grant
    Filed: April 23, 2019
    Date of Patent: June 14, 2022
    Assignee: LG Electronics Inc.
    Inventor: In Hur
  • Patent number: 11358591
    Abstract: A parking assist apparatus according to an embodiment includes a memory and a hardware processor coupled to the memory. The hardware processor: sets a first circumference being in contact with a first straight line extending in a traveling direction of a vehicle and passing through a position of the vehicle; sets a second circumference being in contact with a second straight line extending in an exit direction from a parking target area of the vehicle and passing through the parking target area; sets a third circumference obtained by shifting the second circumference along the second straight line until the second circumference comes in contact with the first circumference; acquires a guidance route including part of the first circumference as a route for moving the vehicle forward and part of the third circumference as a route for moving the vehicle backward; and guides the vehicle along the acquired guidance route.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: June 14, 2022
    Assignee: AISIN CORPORATION
    Inventors: Hironori Hirata, Masahiro Ishihara
  • Patent number: 11360488
    Abstract: An autonomous vehicle system includes an autonomous vehicle in signal communication with a data server via a communication network. The autonomous vehicle is configured to travel autonomously according to a traveling route. The data server outputs at least one driving command to control the autonomous vehicle based, at least on in part, on a point of interest (POI) included in the traveling route and at least one surrounding vehicle located in a vicinity of the autonomous vehicle.
    Type: Grant
    Filed: January 7, 2020
    Date of Patent: June 14, 2022
    Assignee: INTERNATIONAL BUSINESS MACHINES CORPORATION
    Inventors: Eric V. Kline, Sarbajit K. Rakshit
  • Patent number: 11359930
    Abstract: Provided are a map building method, a navigation method, a device and a system. A detected obstacle is identified, and a type of the obstacle is determined according to an identification result from multiple obstacle types obtained through classification according to an obstacle characteristic; a map is built and the obstacle is marked, and the type of the obstacle is recorded. A newly added obstacle detected on a path is identified during navigation, and obstacle avoidance process is performed according to the type of the newly added obstacle.
    Type: Grant
    Filed: December 24, 2018
    Date of Patent: June 14, 2022
    Assignee: ZTE CORPORATION
    Inventor: Congbing Li
  • Patent number: 11351988
    Abstract: A vehicle includes a set of sound sensors coupled to one or more processing systems that process sound data from the set of sound sensors in order to provide assisted driving features or functionality such as an emergency vehicle avoidance.
    Type: Grant
    Filed: July 26, 2018
    Date of Patent: June 7, 2022
    Assignee: Byton North America Corporation
    Inventors: Baharak Soltanian, Man Chun Tsang, Srini Gowda, Dirk Abendroth
  • Patent number: 11353329
    Abstract: An automated driving device includes: a navigation unit configured to retrieve one or more partial routes with a predetermined length other than a guide route which branch from the guide route at a branch point through which a vehicle is expected to pass before the vehicle passes through the branch point; and an electronic control unit configured to control automated driving of the vehicle based on information of a specific partial route out of the one or more partial routes in a period until the navigation unit completes retrieval of a redundant route for guiding the vehicle to a destination point when the vehicle departs from the guide route at the branch point and travels on the specific partial route.
    Type: Grant
    Filed: October 4, 2019
    Date of Patent: June 7, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Akira Iijima, Hiroaki Sakakibara
  • Patent number: 11348182
    Abstract: Methods and systems for monitoring use and determining risks associated with operation of a vehicle having one or more autonomous operation features are provided. According to certain aspects, a virtual log of data regarding performance of the features in a virtual test environment may be recorded during operation of the vehicle. This may include information regarding the vehicle, the vehicle environment, use of the autonomous operation features, and/or control decisions made by the features. The control decisions may include evasive maneuvers performed by the vehicle under the control of the features. The performance data in the virtual log may be used to determine risk levels associated with vehicle operation by the autonomous operation features. The risk levels may further be used to adjust an insurance policy associated with the vehicle.
    Type: Grant
    Filed: September 24, 2019
    Date of Patent: May 31, 2022
    Assignee: State Farm Mutual Automobile Insurance Company
    Inventors: Blake Konrardy, Gregory Hayward, Scott Farris, Scott T. Christensen
  • Patent number: 11345032
    Abstract: An autonomous moving body capable of appropriately avoiding an approaching autonomous moving body and efficiently executing a given task even when the autonomous moving bodies are not controlled by a single system or without intercommunication between them and a control program for the autonomous moving body are provided. An autonomous moving body moves along a planned moving path in order to execute a given task, and includes an external sensor that recognizes another autonomous moving body given another task and an operation state thereof, an avoidance determination unit that determines, when it predicts that the autonomous moving body and the another autonomous moving body recognized by the external sensor may come into contact with each other as they approach each other, whether to avoid the another autonomous moving body, and a movement control unit that controls a movement unit based on the determination of the avoidance determination unit.
    Type: Grant
    Filed: May 9, 2019
    Date of Patent: May 31, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Tetsuya Taira, Daisaku Honda
  • Patent number: 11345234
    Abstract: Disclosed is a method and apparatus for detecting a state of a vehicle occupant, wherein a bio-signal of an occupant riding in a vehicle may be acquired by executing an artificial intelligence (AI) algorithm or a machine learning algorithm, and a physical change of the occupant may be measured by a movement signal, a respiratory signal, and a heart rate signal from the acquired bio-signal of the vehicle occupant, such that it is possible to control an operation of an internal vehicle device or to control operation of the vehicle so as to correspond to the physical change of the occupant estimated by communicating with the internal vehicle device in a 5G communication environment.
    Type: Grant
    Filed: September 3, 2019
    Date of Patent: May 31, 2022
    Assignee: LG ELECTRONICS INC.
    Inventor: Tae Hwan Kim
  • Patent number: 11347232
    Abstract: A mobile robot, including: a body, a drive system for driving the movement of the mobile robot, a light emitter for emitting light towards a detection face, a photoelectric sensor for responding to light coming from an environment and/or light emitted by the light emitter, an adjustable impedance unit connected to the photoelectric sensor, and a controller. The controller adjusts the adjustable impedance unit to form at least two types of gear values with different impedances and responds to, under the condition of each type of gear values, a sampling difference value determined when the light emitter is in a turn-on and a turn-OFF state, so as to prevent the generation of a misjudgment from causing the mobile robot to carry out an accidental action, such that the mobile robot can work in a special working environment with strong light exposure and a black light-absorption detection face.
    Type: Grant
    Filed: May 31, 2018
    Date of Patent: May 31, 2022
    Assignee: SHENZHEN SILVER STAR INTELLIGENT TECHNOLOGY CO., LTD.
    Inventor: Zhijun Chu
  • Patent number: 11347235
    Abstract: Systems and methods are provided for generating a map for use in controlling a vehicle. In one embodiment, a method includes: receiving, by a processor, aerial image data depicting an environment; processing, by the processor, the aerial image data with a plurality of trained deep learning models to produce a predicted radar map; and controlling the vehicle based on the predicted radar map.
    Type: Grant
    Filed: April 17, 2019
    Date of Patent: May 31, 2022
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Michael A. Losh, Keun Jae Kim, Orhan Bulan
  • Patent number: 11341406
    Abstract: Methods and apparatus related to training and/or utilizing a convolutional neural network to generate grasping parameters for an object. The grasping parameters can be used by a robot control system to enable the robot control system to position a robot grasping end effector to grasp the object. The trained convolutional neural network provides a direct regression from image data to grasping parameters. For example, the convolutional neural network may be trained to enable generation of grasping parameters in a single regression through the convolutional neural network. In some implementations, the grasping parameters may define at least: a “reference point” for positioning the grasping end effector for the grasp; and an orientation of the grasping end effector for the grasp.
    Type: Grant
    Filed: September 17, 2018
    Date of Patent: May 24, 2022
    Assignee: X DEVELOPMENT LLC
    Inventors: Joseph Redmon, Anelia Angelova
  • Patent number: 11340626
    Abstract: A method of controlling a cleaning robot includes: acquiring a marked position of a charging station in a map; controlling the cleaning robot to travel to a front position of the marked position and identifying the charging station; when the charging station is not identified, generating a finding path based on the marked position; and controlling the cleaning robot to travel in accordance with the finding path and identifying the charging station in a traveling process.
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: May 24, 2022
    Assignees: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD., BEIJING ROCKROBO TECHNOLOGY CO., LTD.
    Inventors: Hang He, Haojian Xie, Yongfeng Xia
  • Patent number: 11332164
    Abstract: A vehicle control system includes a direction detector configured to detect a direction of a face or line of sight of an occupant of a host vehicle; an automated driving controller configured to execute automated driving; and a switching controller configured to switch an automated driving mode executed by the automated driving controller to any one of a plurality of automated driving modes including a first automated driving mode in which a predetermined task is required of the occupant or a predetermined automation rate is set and a second automated driving mode in which a level of the task required of the occupant is lower than in the first automated driving mode or an automation rate is lower than in the first automated driving mode, wherein the switching controller includes the direction detected by the direction detector being a predetermined direction in switching conditions for switching from the second automated driving mode to the first automated driving mode.
    Type: Grant
    Filed: June 2, 2017
    Date of Patent: May 17, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toshiyuki Kaji, Yoshifumi Nakamura
  • Patent number: 11332134
    Abstract: A method for predicting whether another vehicle in the driving-environment of an ego-vehicle will execute a lane-change, based on observations of the driving-environment of the ego-vehicle, including: the observations are supplied to individual classificators; based on at least a portion of the observations, each individual classificator, in accordance with an individual instruction, ascertains an individual probability that the other vehicle will change lanes; the driving situation in which the ego-vehicle finds itself is classified as a whole by a situation classificator into one of several discrete classes; a record of weighting factors, assigned to the class into which the situation-classificator has classified the driving-situation, is ascertained, that indicates the relative weighting of the individual classificators for this driving situation; the individual probabilities are set off against the weighting-factors to form an overall probability that the other vehicle will change lanes.
    Type: Grant
    Filed: December 16, 2019
    Date of Patent: May 17, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Chun Yang, Laszlo Anka, Adam Rigo, Kornel Istvan Kis, Levente Kis
  • Patent number: 11325640
    Abstract: An apparatus for controlling an motor-driven power steering (MDPS) may include: a driving information input unit configured to receive driving information; a steering angle position control unit configured to receive a command steering angle and a current motor steering angle of a driving motor, and output an autonomous driving command; and an MDPS control unit configured to drive the driving motor based on the autonomous driving command in an autonomous driving mode, determine whether a driver intervenes in steering, calculate a driver command by the driver's steering according to whether the driver intervenes in steering, and change an operation mode from the autonomous driving mode to a driver mode while driving the driving motor with a compensation output between the driver command and the autonomous driving command.
    Type: Grant
    Filed: October 29, 2020
    Date of Patent: May 10, 2022
    Assignee: Hyundai Mobis Co., Ltd.
    Inventor: Tae Hong Kim
  • Patent number: 11325603
    Abstract: Systems and methods for estimating lane geometry are disclosed herein. One embodiment receives sensor data from one or more sensors; detects a road agent based on the sensor data; detects, based on the sensor data, that the road agent has performed a lane shift from a first lane of a roadway to a second lane of the roadway; and estimates a boundary line between the first lane of the roadway and the second lane of the roadway based, at least in part, on the detected lane shift.
    Type: Grant
    Filed: February 28, 2020
    Date of Patent: May 10, 2022
    Assignee: Toyota Research Institute, Inc.
    Inventors: Stephen G. McGill, Jr., Guy Rosman, Luke S. Fletcher
  • Patent number: 11324375
    Abstract: A floor maintenance system can employ one or more autonomous assemblies that evaluate, characterize, and optimize a floor. A floor maintenance device can have one or more sensors connected to a local controller and a mapping circuit. The mapping circuit may be configured to change from a first floor detection resolution to a different second floor detection resolution in response to a detected floor condition.
    Type: Grant
    Filed: July 25, 2019
    Date of Patent: May 10, 2022
    Inventors: Jeffrey L. Koebrick, Matthew Leroy Klingler
  • Patent number: 11325606
    Abstract: Methods, devices and systems enable controlling an autonomous vehicle by identifying vehicles that are within a threshold distance of the autonomous vehicle, determining an autonomous capability metric of each of the identified vehicles, and adjusting a driving parameter of the autonomous vehicle based on the determined autonomous capability metric of each of the identified vehicles. Embodiments may further include determining, based on the determined ACMs, whether one or more identified vehicles would provide an operational advantage to the autonomous vehicle in a cooperative driving engagement, and initiating a cooperative driving engagement with the one or more identified vehicles in response to determining that the one or more identified vehicles would provide an operational advantage to the autonomous vehicle in a cooperative driving engagement.
    Type: Grant
    Filed: December 26, 2019
    Date of Patent: May 10, 2022
    Assignee: QUALCOMM Incorporated
    Inventors: John Anthony Dougherty, Jordan Scott Burklund, Kristen Wagner Cerase, Stephen Marc Chaves, Ross Eric Kessler, Paul Daniel Martin, Daniel Warren Mellinger, III, Michael Joshua Shomin
  • Patent number: 11320279
    Abstract: A travel route management system includes an area setting unit that sets a work site to an outer peripheral area SA and an area CA to be worked on an inner side of the outer peripheral area SA, and a route element selecting unit that sequentially selects a next travel route element to be traveled on next, from among multiple mutually-parallel travel route elements, the travel route elements constituting a travel route that covers the area CA to be worked. The route element selecting unit selects a U-turn travel route for moving from a travel route element serving as a movement origin to a next travel route element serving as a movement destination, the selection being made on the basis of an interval between the movement origin and the movement destination.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: May 3, 2022
    Assignee: Kubota Corporation
    Inventors: Sakura Tomita, Tomohiko Sano, Kazuo Sakaguchi, Tetsuya Nakajima, Makoto Oshitani, Kenichi Iwami, Osamu Yoshida
  • Patent number: 11318865
    Abstract: An autonomous vehicle is provided. The autonomous vehicle includes a vehicle control device positioned proximate a forward end of the autonomous vehicle. The autonomous vehicle further includes a passenger seat. The passenger seat defines a seating orientation and is configurable in at least a first position and a second position. When the passenger seat is in the first position, the seating orientation is directed towards the rear end of the autonomous vehicle. In addition, the vehicle control device is substantially obscured from access from a passenger compartment of the autonomous vehicle. When the passenger seat is in the second position, the seating orientation is directed towards the forward end of the autonomous vehicle. In addition, the vehicle control device is accessible from the passenger compartment of the autonomous vehicle.
    Type: Grant
    Filed: December 19, 2019
    Date of Patent: May 3, 2022
    Assignee: UATC, LLC
    Inventor: Johad Husseini Ellis
  • Patent number: 11320828
    Abstract: Provided is a robotic device, including: a chassis; a set of wheels; one or more motors to drive the set of wheels; a controller in communication with the one or more motors; one or more surface cleaning tools; at least one sensor; a camera; one or more processors; a medium storing instructions that when executed by the one or more processors effectuate operations including: capturing, with the camera of the robotic device, spatial data of surroundings of the robotic device; generating, with the one or more processors of the robotic device, a movement path based on the spatial data of the surroundings; inferring, with the one or more processors of the robotic device, a location of the robotic device; and updating, with the one or more processors of the robotic device, the movement path to exclude locations of the movement path that the robotic device has previously been located.
    Type: Grant
    Filed: March 8, 2019
    Date of Patent: May 3, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Lukas Fath, Chen Zhang
  • Patent number: 11320831
    Abstract: Disclosed herein is a mover including an object detecting unit and either a masking processing unit or a transmission restricting unit as an additional processing unit. The object detecting unit detects an object based on a reception signal output from a receiver unit by having a transmitter unit transmit a scanning wave and by having the receiver unit receive a reflected wave, which is a component, reflected from the object, of the scanning wave. The masking processing unit performs masking processing of masking, in accordance with a timing at which, and/or a direction of incidence in which, a disturbance wave, not depending on the scanning wave, is incident on the receiver unit, a portion of the reception signal output from the receiver unit. The transmission restricting unit restricts a transmission range in which the transmitter unit transmits the scanning wave.
    Type: Grant
    Filed: December 17, 2018
    Date of Patent: May 3, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Hiroshi Shirouzu, Yoshihiro Ikawa, Osamu Mizuno
  • Patent number: 11319240
    Abstract: The invention concerns a trim element for a motor vehicle comprising at least one glass sheet having an absorption coefficient lower than 5 m?1 in the wavelength range from 1051 nm to 1650 nm and having an external and an internal faces. According to the present invention, an infrared-based remote sensing device in the wavelength range from 1051 nm to 1650 nm, is placed behind the internal face of the glass sheet.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: May 3, 2022
    Assignee: AGC GLASS EUROPE
    Inventors: Thomas Lambricht, Yannick Sartenaer, Quentin Fraselle, Nicolas Chorine, Maxime Collignon
  • Patent number: 11322025
    Abstract: A computer-implemented method for validating the existence of roadwork is provided. The method comprises, for example, retrieving information for at least one segment of a road captured by a plurality of vehicles. The information comprises at least two of lane marking data, speed funnel presence data, and traffic behavior change data. The method also comprises generating a confidence score based on analysis of the retrieved information. The method further comprises validating the existence of the roadwork on the at least one segment of the road based on the generated confidence score.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: May 3, 2022
    Assignee: HERE Global B.V.
    Inventors: Zhenhua Zhang, Leon Stenneth
  • Patent number: 11318963
    Abstract: A vehicle control apparatus is provided. The vehicle control apparatus can obtain periphery information of a vehicle and perform following control including steering and acceleration/deceleration of the vehicle. In a case in which a front vehicle which is to be a following target does not satisfy a specific condition not including a speed condition, the vehicle control apparatus performs at least one of: lowering an automation level; and requesting a driver of the vehicle to perform a predetermined task which is not requested to the driver in a case in which the front vehicle satisfies the specific condition.
    Type: Grant
    Filed: July 21, 2020
    Date of Patent: May 3, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Tadahiko Kanoh
  • Patent number: 11315418
    Abstract: Providing user assistance in a vehicle includes identifying a driving behavior of the vehicle based on an evaluation of information about manual operation of the vehicle and information about an environment surrounding the vehicle, and issuing an alert to a user prompting the user to implement corrective manual operation. The user assistance further includes receiving a traffic behavior model that describes a predominating driving behavior of a like population of reference vehicles, and issuing the alert to a user prompting the user to implement corrective manual operation in response to identifying that the driving behavior of the vehicle does not match the predominating driving behavior of the like population of reference vehicles. Under the corrective manual operation, the driving behavior of the vehicle matches the predominating driving behavior of the like population of reference vehicles.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: April 26, 2022
    Assignee: Toyota Research Institute, Inc.
    Inventor: James J. Kuffner, Jr.
  • Patent number: 11312372
    Abstract: A system, comprising a computer that includes a processor and a memory, the memory storing instructions executable by the processor to input second vehicle sensor data received via one or more of vehicle-to-vehicle (V-to-V) and vehicle-to-infrastructure (V-to-I) networking into a generative query neural network (GQN) trained to generate second vehicle viewpoint data and predict a path for a second vehicle based on the second vehicle viewpoint data with a reinforcement learning deep neural network (RLDNN). The computer can be further programmed to obtain a confidence for the predicted second vehicle path from a Bayesian framework applied to the RLDNN and determine a first vehicle path based on the predicted second vehicle path and the confidence.
    Type: Grant
    Filed: April 16, 2019
    Date of Patent: April 26, 2022
    Assignee: Ford Global Technologies, LLC
    Inventors: David Michael Herman, Ashwin Arunmozhi, Venkatesh Krishnan
  • Patent number: 11314253
    Abstract: Autonomous driving includes identifying a traffic behavior of an object in an environment surrounding a vehicle based on an evaluation of information about the environment surrounding the vehicle while the vehicle is in the midst of manual operation, and operating vehicle systems in the vehicle to perform a driving maneuver according to a driving plan for performing the driving maneuver. The autonomous driving further includes receiving a traffic behavior model that describes a predominating traffic behavior of a like population of reference objects, and operating the vehicle systems to perform the driving maneuver according to the driving plan in response to identifying that the traffic behavior of the object does not match the predominating traffic behavior of the like population of reference objects. Under the driving plan, the traffic behavior of the object is addressed.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: April 26, 2022
    Assignee: Toyota Research Institute, Inc.
    Inventor: James J. Kuffner, Jr.
  • Patent number: 11314256
    Abstract: The present disclosure discloses a method and system for controlling mechanical transmission of an intelligent wheelchair. The system may include a processor, a motion module, and a tripod head. The processor may be configured to perform operations of receiving information, constructing a map, planning a route, and generating a control parameter. The motion module may execute the control parameter to move around and may include a sensor to sense information. The tripod head may include a sensor to sense the information.
    Type: Grant
    Filed: January 22, 2017
    Date of Patent: April 26, 2022
    Assignee: SICHUAN GOLDEN RIDGE INTELLIGENCE SCIENCE & TECHNOLOGY CO., LTD.
    Inventors: Weirong Liu, Jiaxin Li, Yin Jiao, Li Yan, Dong Dong, Yifeng Huang
  • Patent number: 11312397
    Abstract: A vehicle includes: a capturer to capture a driver of the vehicle driving in an autonomous driving mode to obtain driver position information; a driver state detector to detect a state of the driver; and a controller to determine a time required to change from the autonomous driving mode to a manual operation mode based on the obtained driver position information and the detected driver state. In particular, the controller controls the change to driving mode of the vehicle based on the determined time to change from the autonomous driving mode to the manual operation mode.
    Type: Grant
    Filed: January 16, 2020
    Date of Patent: April 26, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Donghyuk Kim, Seunghyun Kim, Ilhwan Kim, Hong Gi Park, Kyung-joo Bang
  • Patent number: 11315419
    Abstract: Providing user assistance in a vehicle includes identifying a traffic behavior of an object in an environment surrounding the vehicle based on an evaluation of information about the environment surrounding the vehicle while the vehicle is in the midst of manual operation, and issuing an alert to a user prompting the user to implement defensive manual operation. The user assistance further includes receiving a traffic behavior model that describes a predominating traffic behavior of a like population of reference objects, and issuing the alert to a user prompting the user to implement defensive manual operation in response to identifying that the traffic behavior of the object does not match the predominating traffic behavior of the like population of reference objects. Under the defensive manual operation, the traffic behavior of the object is addressed.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: April 26, 2022
    Assignee: Toyota Research Institute, Inc.
    Inventor: James J. Kuffner, Jr.
  • Patent number: 11312373
    Abstract: A computer is programmed to identify a target vehicle to be monitored and to identify first and second virtual boundaries on a roadway based on a position of the target vehicle. The computer is further programmed to determine a first constraint value based on (1) a first boundary approach velocity and (2) a first boundary approach acceleration and a second constraint value based on (1) a second boundary approach velocity and (2) a second boundary approach acceleration. The computer is further programmed to identify a maneuver of the target vehicle based on whether the first and second constraint values violate respective thresholds or a position of the target vehicle relative to the first and second virtual boundaries violates a threshold and to adjust a path of a host vehicle according to the identified maneuver.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: April 26, 2022
    Assignee: Ford Global Technologies, LLC
    Inventors: Yousaf Rahman, Mrdjan J. Jankovic, Mario Anthony Santillo
  • Patent number: 11312377
    Abstract: Method and device for autonomous driving of a vehicle on a roadway in a direction of travel. A trajectory for driving on the roadway in the direction of travel is determined. A bending strip of limited length defines the trajectory, wherein the bending strip is fixed at one end thereof in a node which defines a starting point of the trajectory. A course of the trajectory is determined, starting from the starting point, in dependence on a bending line of the bending strip, which line extends, starting from the node, to the other end of the bending strip. A representation of a roadway boundary defines a boundary condition for the determination of the trajectory. A quality measure is defined in dependence on a property of the bending strip. The bending line which satisfies the boundary condition and for which the quality measure has an extremal value is determined.
    Type: Grant
    Filed: August 4, 2020
    Date of Patent: April 26, 2022
    Inventors: Georg Tardy-Tuch, Florian Strecker, Michael Glatz
  • Patent number: 11314252
    Abstract: Autonomous driving includes evaluating information about an environment surrounding a vehicle, generating, based on the evaluation of the information about the environment surrounding the vehicle, a driving plan for performing a driving maneuver, and operating vehicle systems in the vehicle to perform the driving maneuver according to the driving plan. The autonomous driving further includes receiving a traffic behavior model that describes a predominating driving behavior of a like population of reference vehicles. Under the driving plan, a driving behavior of the vehicle matches the predominating driving behavior of the like population of reference vehiclesAutonomous driving includes identifying a driving behavior of a vehicle based on an evaluation of information about manual operation of the vehicle and information about an environment surrounding the vehicle, and operating vehicle systems in the vehicle to perform a driving maneuver according to a driving plan for performing the driving maneuver.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: April 26, 2022
    Assignee: Toyota Research Institute, Inc.
    Inventor: James J. Kuffner, Jr.
  • Patent number: 11314973
    Abstract: Embodiments of the present disclosure disclose a lane line-based intelligent driving control method and apparatus, and an electronic device. The method includes: obtaining a lane line detection result of a vehicle traveling environment; determining, according to a traveling state of the vehicle and the lane line detection result, an estimated distance of traveling out of the lane line by the vehicle and/or estimated time of traveling out of the lane line by the vehicle; and performing intelligent driving control on the vehicle according to the estimated distance and/or the estimated time. The embodiments of the present disclosure implement lane line-based intelligent control on the vehicle traveling state, thereby helping to improve the driving safety.
    Type: Grant
    Filed: May 28, 2020
    Date of Patent: April 26, 2022
    Assignee: SHANGHAI SENSETIME INTELLIGENT TECHNOLOGY CO., LTD.
    Inventors: Wenzhi Liu, Chendi Yu, Guangliang Cheng, Haibo Zhu
  • Patent number: 11307596
    Abstract: A ground service vehicle system employs autonomous vehicles that can be reconfigured with interchangeable service modules to provide different services. The autonomous service vehicles can be remotely controlled and dispatched in swarms to provide different services at a location.
    Type: Grant
    Filed: September 16, 2019
    Date of Patent: April 19, 2022
    Assignee: The Boeing Company
    Inventors: Steve G. Mackin, Peter J. Knudsen
  • Patent number: 11307589
    Abstract: The present invention relates to a vessel navigation system and navigation method thereof, the method includes: (a) driving a vessel to sail along a sailing path including at least two nodes, the at least two nodes include a first node and a second node connected by a first line segment; (b) generating a first tracking point on the first line segment when a distance between the vessel and the first node being less than a first length, and driving the vessel to sail according to the first tracking point; (c) generating a second tracking point on the first line segment when a distance between the vessel and the first tracking point being less than the first length, and driving the vessel to sail according to the second tracking point; and then completing the navigation of the sailing path by repeating the step (b) and step (c) until the vessel passes through each node.
    Type: Grant
    Filed: March 31, 2019
    Date of Patent: April 19, 2022
    Assignee: SHIP AND OCEAN INDUSTRIES R&D CENTER
    Inventors: Feng-Yeang Chung, Ching-Chin Tu, Chun-Han Chu, Min-Hsiang Hsu
  • Patent number: 11300976
    Abstract: A work vehicle automatic traveling system includes a route element selecting unit that, on the basis of state information, sequentially selects a next travel route element on which a work vehicle is to travel next, from a travel route element set and a circling route element set. The route element selecting unit includes a cooperative route element selection rule, which is employed when a plurality of work vehicles carry out work travel cooperatively in an area CA to be worked, and an independent route element selection rule, which is employed when a single independent work vehicle among the work vehicles carries out work travel independently in the area CA to be worked. Also described is selecting the next travel route element based on the independent route element selection rule.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: April 12, 2022
    Assignee: Kubota Corporation
    Inventors: Sakura Tomita, Tomohiko Sano, Kazuo Sakaguchi, Tetsuya Nakajima, Makoto Oshitani, Kenichi Iwami, Osamu Yoshida
  • Patent number: 11301767
    Abstract: Systems, methods and apparatus may be configured to implement automatic semantic classification of a detected object(s) disposed in a region of an environment external to an autonomous vehicle. The automatic semantic classification may include analyzing over a time period, patterns in a predicted behavior of the detected object(s) to infer a semantic classification of the detected object(s). Analysis may include processing of sensor data from the autonomous vehicle to generate heat maps indicative of a location of the detected object(s) in the region during the time period. Probabilistic statistical analysis may be applied to the sensor data to determine a confidence level in the inferred semantic classification. The inferred semantic classification may be applied to the detected object(s) when the confidence level exceeds a predetermined threshold value (e.g., greater than 50%).
    Type: Grant
    Filed: April 26, 2017
    Date of Patent: April 12, 2022
    Assignee: Zoox, Inc.
    Inventors: Jesse Sol Levinson, Gabriel Thurston Sibley, Ashutosh Gajanan Rege
  • Patent number: 11300954
    Abstract: A controller is provided to predict potential future engagement or disengagement of an automated driving feature in a vehicle and proactively implement operations to reduce the likelihood of the disengagement or increase the likelihood of the engagement.
    Type: Grant
    Filed: August 21, 2019
    Date of Patent: April 12, 2022
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventor: Claudia V. Goldman-Shenhar
  • Patent number: 11300966
    Abstract: The present disclosure provides a vehicle control method, including: acquiring current driving information of a vehicle; determining, according to the current driving information and a preset risk map, whether the vehicle drives to a risky road segment; and controlling a driving state of the vehicle accordingly when it is determined that the vehicle drives to the risky road segment. By presetting a risk map, defining road and roadside risky areas in the map, defining risky road segments of roads according to the road and roadside risky areas, determining in real time, whether the vehicle drives to a risky road segment, and controlling a driving state of the vehicle when it is determined that the vehicle drives to the risky road segment, so as to avoid risks that the risky areas cause to the driving of the vehicle, the driving safety of the vehicle can be effectively improved.
    Type: Grant
    Filed: December 10, 2019
    Date of Patent: April 12, 2022
    Inventors: Fan Yang, Xiaoxing Zhu, Xiang Liu, Shuang Zhang, Jingjing Xue
  • Patent number: 11300421
    Abstract: An alighting position setting device includes an option presentation unit configured to present an occupant of a vehicle with multiple options set in advance relating to a request for an alighting position for a destination when the vehicle in an autonomous driving toward the destination set in advance approaches the destination, an option recognition unit configured to recognize the option selected by the occupant from the multiple options, and an alighting position setting unit configured to set an alighting position based on the request for the alighting position corresponding to the option selected by the occupant.
    Type: Grant
    Filed: September 11, 2018
    Date of Patent: April 12, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Junya Watanabe, Seiji Arakawa, Yuji Sasaki, Masafumi Hayakawa, Naotoshi Kadotani, Takashi Hayashi
  • Patent number: 11302023
    Abstract: In one implementation, a method of generating a horizontal plane hypothesis includes obtaining a point cloud of a scene including a plurality of points in a gravity-aligned coordinate system. The method includes generating, based on the plurality of points, a height histogram indicative of a plurality of non-overlapping height ranges in the gravity-aligned coordinate system and a respective plurality of weights. The method includes generating one or more horizontal plane hypotheses based on the height histogram.
    Type: Grant
    Filed: December 21, 2020
    Date of Patent: April 12, 2022
    Assignee: APPLE INC.
    Inventors: Oliver Montague Welton Dunkley, Michael Jaison Gnanasekar, Aitor Aldoma Buchaca
  • Patent number: 11292470
    Abstract: A method to establish a lane-change maneuver, the method includes the steps of calculating a plurality of anchor points along a projected vehicle route and, based on the plurality of anchor points, generating a lane-change maneuver trajectory. The plurality of anchor points can include: a first anchor point based on time, a second anchor point where the vehicle would cross a lane boundary from a host lane to a target lane, and a third anchor point where counter steering torque would be applied to center the vehicle in the target lane.
    Type: Grant
    Filed: January 6, 2020
    Date of Patent: April 5, 2022
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Tetyana V. Mamchuk, Paul A. Adam, Gabriel T. Choi, Joseph M. Burdge
  • Patent number: 11294059
    Abstract: A system and method including, determining an alignment between one or more points of a first point set and one or more points of a second point set; predicting a first set of Doppler velocity information for the first point set to produce a first predicted set of Doppler velocity information; comparing a second set of Doppler velocity information and the first predicted set of Doppler velocity information to compute one or more Doppler velocity errors; predicting a third set of Doppler velocity information for the second point set to produce a second predicted set of Doppler velocity information; comparing a fourth set of Doppler velocity information and the second predicted set of Doppler velocity information to compute Doppler velocity errors; and producing a transform that aligns the one or more points of the first point set with the one or more points of the second point set.
    Type: Grant
    Filed: June 16, 2021
    Date of Patent: April 5, 2022
    Assignee: Aeva, Inc.
    Inventors: Bruno Hexsel, Heethesh Vhalve Naresh
  • Patent number: 11292493
    Abstract: A computer includes a processor and a memory storing instructions executable by the processor to determine, for a host vehicle operating in a first operation mode, a first operation mode transition location based on a time to transition the host vehicle from the first operation mode to a second operation mode, a current speed of the host vehicle, and a distance from the host vehicle to an operation mode transition boundary location, to determine a second operation mode transition location that is a specified distance from the first operation mode transition location, the specified distance based on the current host vehicle speed, to transition from the first operation mode to the second operation mode upon reaching the first operation mode transition location, and to transition from the second operation mode to the first operation mode when the second operation mode transition location is between a current location of the host vehicle and the operation mode transition boundary location.
    Type: Grant
    Filed: January 23, 2020
    Date of Patent: April 5, 2022
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Ryan Jones, Alexander Jaeckel
  • Patent number: 11292491
    Abstract: A server includes: a candidate trajectory generation part for generating a candidate traveling trajectory of a target vehicle; a trajectory simulator for executing a trajectory simulation on the candidate traveling trajectory generated by the candidate trajectory generation part; a trajectory evaluation part for determining a traveling trajectory based on a result of the trajectory simulation; a vehicle coordination part for transmitting information of the traveling trajectory determined by the trajectory evaluation part to an onboard device; an infrastructure coordination part for obtaining sensing information from an infrastructure sensor; an ambient environment generation part for generating information indicating an ambient environment of the traveling trajectory, based on the sensing information obtained by the infrastructure coordination part; and a resetting determination part for determining whether to reset the traveling trajectory.
    Type: Grant
    Filed: February 24, 2020
    Date of Patent: April 5, 2022
    Assignee: Hitachi, Ltd.
    Inventors: Takashi Matsumoto, Tsuneo Sobue, Akihiro Kondo