Automatic Route Guidance Vehicle Patents (Class 701/23)
  • Patent number: 11029697
    Abstract: Systems and methods described herein relate to vehicular navigation. One embodiment generates a polyline reference path for a vehicle; stores a representation of the polyline in a data structure; detects a plurality of obstacles ahead of the vehicle; identifies one or more obstacle gates among the plurality of obstacles using path coordinates relative to the reference path, each obstacle gate including at least one cluster of obstacles; identifies one or more gaps within each of the one or more obstacle gates; determines an obstacle-avoidance path for the vehicle that passes through a particular one of the one or more gaps in each of the one or more obstacle gates; and controls one or more aspects of operation of the vehicle based, at least in part, on the obstacle-avoidance path.
    Type: Grant
    Filed: April 18, 2019
    Date of Patent: June 8, 2021
    Assignee: Toyota Research Institute, Inc.
    Inventors: Alexander G. Cunningham, Robert A. E. Zidek, Noah J. Epstein
  • Patent number: 11027777
    Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.
    Type: Grant
    Filed: February 7, 2018
    Date of Patent: June 8, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Ryo Irie, Yoji Kunihiro, Yutaka Aoki, Yoshio Kudo
  • Patent number: 11029690
    Abstract: A mobile machine including a chassis, a plurality of ground-engaging elements, actuators for driving movement of the ground-engaging elements and a controller for controlling each of the actuators to cause the mobile machine to follow a reference path. The controller is configured to implement a cascading control loop for controlling movement of the mobile machine, the cascading control loop including an outer loop and an inner loop. The outer loop is configured to determine a set heading for reducing a distance between the mobile machine and the reference path, the set heading being determined using an error slope parameter. The inner loop is configured to drive the actuators so that the mobile machine follows the set heading determined by the outer loop. The controller is configured to automatically adjust the error slope value so that the rate of change of the set heading does not exceed a maximum yaw rate.
    Type: Grant
    Filed: January 16, 2019
    Date of Patent: June 8, 2021
    Assignee: AGCO International GmbH
    Inventor: Christian Noess
  • Patent number: 11027748
    Abstract: An automatic driving control device changes the degree of automation during an automatic control or the degree of change to the vehicle behavior during the automatic control, on the basis of the peripheral monitoring state of a driver, and on the basis of how easy it is to perform a switching operation for prioritizing manual control over automatic control. Thus, the automatic driving control device makes it possible to ensure the convenience of automatic control, by dynamically changing the degree of automation or the degree of change to the vehicle behavior, without uniformly stopping automatic control of steering and acceleration.
    Type: Grant
    Filed: March 29, 2016
    Date of Patent: June 8, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Shotaro Odate, Yoshinobu Mukai, Naotaka Kumakiri, Naohiro Sakamoto
  • Patent number: 11029686
    Abstract: A method of automatically moving, by an automatic location placement system, a marine vessel includes receiving, by a central processing unit, from a vision ranging photography system, at least one optical feed including data providing a mapping of an environment surrounding a marine vessel. The method includes displaying, by the central processing unit, on a touch screen monitor, the mapping of the environment. The method includes receiving, by the central processing unit, from the touch screen monitor, target location data. The method includes directing, by the central processing unit, at least one element of a propulsion system of the marine vessel, to move the marine vessel to the targeted location, using the mapping.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: June 8, 2021
    Inventor: Bradley Tyers
  • Patent number: 11021060
    Abstract: A method for guiding a motor vehicle occupied by a driver during a vehicle journey in an automated manner by a driver assistance system includes: displaying, on an optical display apparatus of the driver assistance system, to the driver information from the driver assistance system relevant to the journey; and displaying the information relevant to the journey on the optical display apparatus by a plurality of different display pages assigned to different information classes. The display pages are displayed sequentially and in a stipulated order.
    Type: Grant
    Filed: October 14, 2016
    Date of Patent: June 1, 2021
    Assignee: Continental Automotive GmbH
    Inventors: Stephan Cieler, Guido Meier-Arendt, Heidi von Bychowski, Benjamin Mathe
  • Patent number: 11015942
    Abstract: Methods and systems for autonomous and semi-autonomous vehicle routing are disclosed. Roadway suitability for autonomous operation is scored to facilitate use in route determination. Maps of roadways suitable for various levels of autonomous operation may be generated. Such map data may be used by autonomous vehicles or other computer devices in determining routes based upon criteria for vehicle trips. Such routes may be automatically updated based upon changes in road conditions, vehicle conditions, operator conditions, or environmental conditions. Emergency routing using such map data is described, such as automatic routing and travel when a passenger is experiencing a medical emergency.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: May 25, 2021
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Blake Konrardy, Scott T. Christensen, Gregory Hayward, Scott Farris
  • Patent number: 11016482
    Abstract: Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
    Type: Grant
    Filed: February 7, 2019
    Date of Patent: May 25, 2021
    Assignee: Waymo LLC
    Inventors: Nathaniel Fairfield, Joshua Seth Herbach, Vadim Furman
  • Patent number: 11016496
    Abstract: Methods and systems are disclosed for correlating synthetic LiDAR data to a real-world domain for use in training an autonomous vehicle in how to operate in an environment. To do this, the system will obtain a data set of synthetic LiDAR data, transfer the synthetic LiDAR data to a two-dimensional representation, use the two-dimensional representation to train a model of a real-world environment, and use the trained model of the real-world environment to train an autonomous vehicle.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: May 25, 2021
    Assignee: Argo AI, LLC
    Inventors: Kevin Chen, James Hays, Ersin Yumer
  • Patent number: 11016495
    Abstract: Systems and methods are provided for end-to-end learning of commands for controlling an autonomous vehicle. A pre-processor pre-processes image data acquired by sensors at a current time step (CTS) to generate pre-processed image data that is concatenated with additional input(s) (e.g., a segmentation map and/or optical flow map) to generate a dynamic scene output. A convolutional neural network (CNN) processes the dynamic scene output to generate a feature map that includes extracted spatial features that are concatenated with vehicle kinematics to generate a spatial context feature vector. An LSTM network processes, during the (CTS), the spatial context feature vector at the (CTS) and one or more previous LSTM outputs at corresponding previous time steps to generate an encoded temporal context vector at the (CTS). The fully connected layer processes the encoded temporal context vector to learn control command(s) (e.g., steering angle, acceleration rate and/or a brake rate control commands).
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: May 25, 2021
    Assignees: GM GLOBAL TECHNOLOGY OPERATIONS LLC, CARNEGIE MELLON UNIVERSITY
    Inventors: Praveen Palanisamy, Upali P. Mudalige, Yilun Chen, John M. Dolan, Katharina Muelling
  • Patent number: 11014563
    Abstract: An autonomous driving system includes a lane change control device that performs lane change control for making a lane change from a first lane to a second lane during autonomous driving of a vehicle. The lane change control device is configured to: determine, from start to completion of the lane change control, whether or not a driver's operation is performed as an abort request operation that requests to abort the lane change control; when the abort request operation is performed, determine whether or not an abort permission condition is satisfied; when the abort permission condition is not satisfied, continue the lane change control; and, when the abort permission condition is satisfied, abort the lane change control and make the vehicle travel in the first lane. The lane change control device changes ease of satisfaction of the abort permission condition depending on the situation.
    Type: Grant
    Filed: September 17, 2018
    Date of Patent: May 25, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Ryuta Hashimoto, Hiroki Fukuda, Akira Ito
  • Patent number: 11017671
    Abstract: Systems of an electrical vehicle and the operations thereof are provided. Systems and methods are provided to detect a braking next-to-last vehicle that may cause the last vehicle (the preceding vehicle) to collide with the next-to-last vehicle, panic brake, make a sudden lane change, or otherwise endanger a vehicle following the preceding vehicle. Automated means for computer based vision and detection of brake lights are provided for a next-to-last vehicle. Brake lights are identified; if illuminated to a sufficient level to indicate braking, systems of the operated vehicle are alerted; and appropriate responses may be deployed.
    Type: Grant
    Filed: July 2, 2018
    Date of Patent: May 25, 2021
    Assignee: NIO USA, Inc.
    Inventors: Ming Fung Wong, Anqi Wang
  • Patent number: 11014564
    Abstract: An apparatus for providing a safety strategy in a vehicle is provided. The apparatus includes a sensor configured to sense information about the outside of the vehicle, a memory storing road information, and a control circuit configured to be electrically connected with the sensor and the memory. The control circuit generates a route which is toward a shoulder included in a road where the vehicle is traveling, when a control authority transition demand of the vehicle is ignored, adjusts an operational condition of an automatic lane change based on at least a portion of a speed of the vehicle, a speed of a following vehicle in a target lane of the route, or a distance between the vehicle and the following vehicle, and performs the automatic lane change toward the shoulder along the route, when the adjusted operational condition is satisfied.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: May 25, 2021
    Assignees: Hyundai Motor Company, KIA Motors Corporation
    Inventors: Hyun Ju Kim, Jae Yong Jeon, Dong Hwi Lee, Jin Su Jeong, Su Jung Yoo
  • Patent number: 11016500
    Abstract: In one embodiment, a system is designed to determine the requirement of a perception range for a particular type of vehicles and a particular planning and control technology. A shadow filter is used to connect a scenario based simulator and a PnC module, and tuning the parameters (e.g. decreasing the filter range, tuning the probability of obstacles to be observed among frames) of shadow filter to mimic the real world perceptions with a limited range and reliabilities. Based on the simulation results (e.g., a failure rate, smoothness, etc.), the system is able to determine the required perception distance for the current PnC module. A PnC module represents a particular autonomous driving planning and control technology for a particular type of autonomous driving vehicles. Notice that the PnC module is replaceable so that this method is suitable for different PnC algorithms representing different autonomous driving technologies.
    Type: Grant
    Filed: March 8, 2018
    Date of Patent: May 25, 2021
    Assignees: BAIDU USA LLC, BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Liangliang Zhang, Kairui Yang, Jiangtao Hu
  • Patent number: 11008098
    Abstract: A system for controlling an unmanned aerial vehicle (UAV) includes a first user interface configured to receive a first user input and a second user interface configured to receive a second user input. The first user input provides one or more instructions to effect an autonomous flight of the UAV. The second user input provides one or more instructions to modify the autonomous flight of the UAV, The autonomous flight includes a flight towards a target.
    Type: Grant
    Filed: August 23, 2018
    Date of Patent: May 18, 2021
    Assignee: SZ DJI TECHNOLOGY CO., LTD.
    Inventors: Litian Zhang, Xiao Hu, Ang Liu, Guyue Zhou
  • Patent number: 11008020
    Abstract: A method for controlling a warning module based on an expected time period up to a collision of a vehicle with an obstacle, including: permitting an outputting of a generated warning to a driver of the vehicle if the expected time period up to the collision is shorter than a limiting value function, which depends on a speed of the obstacle and/or a relative speed of the vehicle with respect to the obstacle, and otherwise suppressing a warning to the driver; in which the warning module is configured to generate the warning of an imminent triggering of an automatic emergency braking process of the vehicle to avoid the collision. Also described is a related device and computer readable medium.
    Type: Grant
    Filed: October 18, 2016
    Date of Patent: May 18, 2021
    Assignee: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH
    Inventors: Andreas Nohl, Markus Klein, Ulrich Guecker, Matyas Krabot, Csaba Doczy, Gergely Jozsa, Tamas Rozsa
  • Patent number: 11006564
    Abstract: A swath tracking system for an off-road vehicle includes a control system with a processor and a memory. The control system is configured to receive a plurality of vehicle location points and a current vehicle state, wherein the current vehicle state comprises a current vehicle location, generate a planned vehicle path through one or more of the plurality of vehicle location points, generate a correction path from the current vehicle location to a point along the planned vehicle path ahead of the current vehicle location along a direction of travel, generate a blended path by blending the planned vehicle path and the correction path based at least in part on an assigned weight, wherein the assigned weight is based at least in part on a heading error, a distance between the current vehicle location and the planned path, or a combination thereof, and guide the off-road vehicle along the blended path.
    Type: Grant
    Filed: January 10, 2019
    Date of Patent: May 18, 2021
    Assignees: CNH Industrial America LLC, Autonomous Solutions, Inc.
    Inventors: Christopher Alan Foster, John Henry Posselius, Nathan Eric Bunderson, Taylor Chad Bybee, Daniel John Morwood, Bret Todd Turpin
  • Patent number: 11001196
    Abstract: Systems and methods communicate an intent of an autonomous vehicle externally. In one implementation, traffic object(s) approaching an intersection towards which an autonomous vehicle autonomously navigates along a travel path is tracked. A position of the traffic object(s) relative to the intersection is determined when the autonomous vehicle is stopped at the intersection. A perceived possession of a right of way of the autonomous vehicle to enter the intersection is generated based on the position of the traffic object(s). A decision of whether to direct the autonomous vehicle into the intersection is generated based on the perceived possession of the right of way. An intent icon linked to an action of the autonomous vehicle is generated. The action is correlated with the decision of whether to direct the autonomous vehicle into the intersection. The intent icon is presented to an environment external to the autonomous vehicle.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: May 11, 2021
    Inventor: Chip J. Alexander
  • Patent number: 11004340
    Abstract: A method for operating a control device of a motor vehicle driving by automation. The method includes determining a location of the motor vehicle, and acquiring driving-environment data of the motor vehicle, a control characteristic of the control device of the motor vehicle being formed in such a way that a driving behavior of at least one other road user is influenced in defined manner.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: May 11, 2021
    Assignee: Robert Bosch GmbH
    Inventors: Carsten Hasberg, Michael Helmle, Oliver Pink, Sybille Eisele
  • Patent number: 11003182
    Abstract: A planned path is received from a vehicle along with a status of a perception subsystem in the vehicle. A remedial action is initiated determining that the status of the perception subsystem is healthy and the planned path deviates by more than a threshold from a detected path.
    Type: Grant
    Filed: January 4, 2019
    Date of Patent: May 11, 2021
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Mostafa Parchami, Mahrdad Damsaz, Hamed Babazadehrokni, Krithika Swaminathan
  • Patent number: 11004342
    Abstract: Conflicts and collisions between right-turning vehicles and pedestrians are a common problem in the field of traffic engineering. The present invention provides a visual indication that a pedestrian intends to cross as well as a wireless Infrastructure-to-Vehicle (I2V) message transmitted to nearby connected vehicles warning of the pedestrian's intent. Some embodiments may include a second visual indication and I2V message at the beginning of the Walk interval to warn drivers that a pedestrian is entering the crossing. The visual indication can include a lighted dynamic sign and/or light fixture configured to draw the attention of a driver of a vehicle.
    Type: Grant
    Filed: June 4, 2020
    Date of Patent: May 11, 2021
    Inventors: Phil Tate, Tony Brennan, Juan Molina, Josh Meier
  • Patent number: 10994731
    Abstract: Provided is a steering assistance device, and a demarcation line detection unit 100 detects left and right lane demarcation lines for a lane in which a vehicle is travels. A horizontal velocity measurement unit 101 calculates the horizontal velocity, which is a velocity component of the vehicle in a direction perpendicular to the lane. An assistance unit 11 performs steering assistance for the vehicle so that the vehicle travels parallel to the left and right lane demarcation lines. In a case where the horizontal velocity equal to or greater than a prescribed velocity and the center of the vehicle is separated from the center between the left and right lane demarcation lines by equal to or greater than a prescribed distance, a steering control unit 102 starts the steering assistance of the vehicle by the assistance unit 11.
    Type: Grant
    Filed: July 28, 2017
    Date of Patent: May 4, 2021
    Assignee: ISUZU MOTORS LIMITED
    Inventor: Teruhiko Suzuki
  • Patent number: 10994750
    Abstract: A vehicle control device is provided with a timing selection unit configured to select, during automated driving, either one of a first notification timing at which notification of a driving takeover request is issued in the case that a remaining distance to a scheduled switching point from the automated driving to manual driving has become less than or equal to a predetermined distance, and a second notification timing at which notification of the driving takeover request is issued in the case that a remaining time period until reaching the scheduled switching point is less than or equal to a predetermined time period, wherein the timing selection unit selects the first notification timing or the second notification timing based on a present travel speed or a scheduled travel speed.
    Type: Grant
    Filed: January 23, 2020
    Date of Patent: May 4, 2021
    Assignee: Honda Motor Co., Ltd.
    Inventors: Takashi Watanabe, Hisashi Matsuda, Kentaro Ishisaka, Takafumi Hirose, Toru Kokaki, Katsuya Yashiro, Takemi Tsukada, Masaya Ikeda
  • Patent number: 10997862
    Abstract: A vehicle travel control method is provided for controlling a host vehicle so as to follow a preceding vehicle. A first area where the host vehicle can possibly travel is calculated from a travel trajectory of the new preceding vehicle upon detecting a new preceding vehicle cutting in between the preceding vehicle and the host vehicle. A second area is set to a previous travelable area of the host vehicle that was determined up to a previous time. The first area and the second area are added to define a defined travelable area. A target travel trajectory of the host vehicle is generated within the defined travelable area. The host vehicle is controlled along the generated target travel trajectory.
    Type: Grant
    Filed: September 5, 2016
    Date of Patent: May 4, 2021
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Takashi Fukushige, Satoshi Tange
  • Patent number: 10994743
    Abstract: A control method for a vehicle is disclosed. The vehicle includes an in-vehicle controller, the in-vehicle controller pre-stores an instruction relationship, and the instruction relationship is used to represent an execution selection that is made by the in-vehicle controller from contrary instructions of at least two controllers. The method includes: receiving, by the in-vehicle controller, a first instruction and a second instruction (S410); and determining, by the in-vehicle controller, a vehicle control instruction according to the instruction relationship, the first instruction, and the second instruction (S420).
    Type: Grant
    Filed: October 25, 2018
    Date of Patent: May 4, 2021
    Assignee: HUAWEI TECHNOLOGIES CO., LTD.
    Inventor: Yangbo Lin
  • Patent number: 10996674
    Abstract: Indoors positioning and navigation systems and methods are described herein. In one embodiment, a system for inspecting or maintaining a storage tank includes a vehicle having: at least one sensor for determining properties of a storage tank and a navigation system. The navigation system includes an acoustic transmitter carried by the vehicle and an inertial measurement unit (IMU) sensor configured to at least partially determine a location of the vehicle with respect to the storage tank. The vehicle also includes a propulsion unit configured to move the vehicle within the storage tank, and an acoustic receiver fixed with respect to the storage tank. The vehicle moves inside the storage tank in concentric arcs with respect to the acoustic receiver.
    Type: Grant
    Filed: March 19, 2020
    Date of Patent: May 4, 2021
    Assignee: Quest Integrated, LLC
    Inventors: Phillip D. Bondurant, Giovanni Nino
  • Patent number: 10994417
    Abstract: A dynamic representation of a robot in an environment is produced, one or more observer agent collects data, and respective values of one or more metrics for the robot are computed based at least in part on the collected data. Tasks for the robot to perform are generated. Ratings and challenge questions are generated. A server may produce a user interface and a value of a metric based on collected observer data.
    Type: Grant
    Filed: October 4, 2019
    Date of Patent: May 4, 2021
    Assignee: Kindred Systems Inc.
    Inventors: James Sterling Bergstra, Suzanne Gildert, George Samuel Rose
  • Patent number: 10994741
    Abstract: The present teaching relates to method, system, medium, and implementation of human-like vehicle control for an autonomous vehicle. Information related to a target motion to be achieved by the autonomous vehicle is received, wherein the information includes a current vehicle state of the autonomous vehicle. A first vehicle control signal is generated with respect to the target motion and the given vehicle state in accordance with a vehicle kinematic model. A second vehicle control signal is generated in accordance with a human-like vehicle control model, with respect to the target motion, the given vehicle state, and the first vehicle control signal, wherein the second vehicle control signal modifies the first vehicle control signal to achieve human-like vehicle control behavior.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: May 4, 2021
    Assignee: PLUSAI LIMITED
    Inventors: Mianwei Zhou, Hao Zheng, David Wanqian Liu
  • Patent number: 10989554
    Abstract: A computer-implemented method for controlling navigation includes generating an emotion data of a first user that illustrates emotion of the first user based on information received from a sensor. The method includes transmitting the emotion data of the first user to a controller configured to control a navigation of a second user. The first user and the second user are members of a same group. The method includes modifying the navigation of the second user according to the emotion data of the first user.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: April 27, 2021
    Assignee: Honda Motor Co., Ltd.
    Inventors: Takeshi Kitajima, Takao Fujiwara, Yoshitaka Suzuki, Kazuto Kawata, Wonravee Chavalit, Jenny Le, Ryan Lacross, Shigeyuki Seko, Shuhei Kinoshita, Yusuke Narita, Toshiaki Takano
  • Patent number: 10981497
    Abstract: A control system of an autonomous vehicle may include: a camera unit installed on a vehicle body, and configured to take an image of a pedestrian; a measurement unit installed on the vehicle body, and configured to measure a position of the pedestrian and a distance to the pedestrian; a control unit configured to receive data of the camera unit and the measurement unit; and an image irradiation unit configured to operate according to a control signal of the control unit, and irradiate light to one or more of the pedestrian and a road.
    Type: Grant
    Filed: December 6, 2019
    Date of Patent: April 20, 2021
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventors: Eun Jeong Lee, Seung Woo Baek, Ban Suk Choi, Cheon Seop Shin, Jun Hyuk Cha, Moo Kwan Kim
  • Patent number: 10984656
    Abstract: A method for stopping a bicycle at intersection, applied in a bicycle system including a signal light command device, a signal controller, an electromagnet emitting device, and a bicycle having a magnet adsorption device. The method includes controlling, by the signal controller, the electromagnet emitting device to generate magnetic attraction force when a stoplight of the signal light command device is turned on; and attracting, by the electromagnet emitting device, the magnet adsorption device of the bicycle to decelerate or stop the bicycle. A bicycle system and a bicycle are also provided.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: April 20, 2021
    Assignees: Fu Tai Hua Industry (Shenzhen) Co., Ltd., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: Cheng-Xiang Liu
  • Patent number: 10974716
    Abstract: A method for adjusting a controller of a transportation vehicle includes receiving transportation vehicle state information and information about a current value of at least one variable controller parameter of the controller, calculating a setpoint value for the variable controller parameter, and outputting the setpoint value for the variable controller parameter. The calculating the setpoint value includes using an artificial neural network based on the transportation vehicle state information and the information about the current value of the variable controller parameter.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: April 13, 2021
    Inventor: Malte Rothhämel
  • Patent number: 10974722
    Abstract: A vehicle control apparatus of an embodiment includes a surrounding situation recognition unit which recognizes a situation of surroundings of a vehicle, a branch point recognition unit which recognizes a branch point present in a traveling direction of the vehicle on the basis of the recognition result of the surrounding situation recognition unit, a main lane recognition unit which recognizes a main lane connected to the branch point, and a driving control unit which controls one or both of the steering and acceleration/deceleration of the vehicle and causes the vehicle to travel in the direction of the main lane recognized by the main lane recognition unit at the branch point.
    Type: Grant
    Filed: October 1, 2018
    Date of Patent: April 13, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hiroshi Miura, Makoto Ishikawa, Masamitsu Tsuchiya, Koji Kawabe
  • Patent number: 10976737
    Abstract: Systems and methods are provided for performing autonomous vehicle operation analysis. A method includes sensor data being received from sensor devices that is representative of an environment and operation of a human-operated vehicle. Human event data is determined based upon the received sensor data. Event data associated with operation of an autonomous vehicle is received. The human event data is correlated with the autonomous vehicle event data based upon degree of similarity of human-operated vehicle events and autonomous vehicle events with respect to driving scenarios. Safety-related analysis is generated, by the one or more data processors, based upon the correlated human-operated vehicle events and autonomous vehicle events.
    Type: Grant
    Filed: November 21, 2017
    Date of Patent: April 13, 2021
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Albert Boniske, George Hines, Sandra Lennie
  • Patent number: 10976740
    Abstract: The present disclosure provides systems and methods for controlling autonomous vehicles. In one example implementation, a method includes providing for display to a passenger of an autonomous vehicle, by a computing system having one or more computing devices, a user interface on a display device. The user interface includes at least one interface element associated with directing movement of the autonomous vehicle. The method includes receiving, by the computing system, a user interaction for a time period directed to the interface element. During the time period, the method includes providing, by the computing system, one or more signals indicative of the user interaction to control the autonomous vehicle to autonomously travel along a predetermined path.
    Type: Grant
    Filed: June 3, 2019
    Date of Patent: April 13, 2021
    Assignee: UATC, LLC
    Inventors: Matthew Shaw Wood, Scott C. Poeppel
  • Patent number: 10970564
    Abstract: A system and method for instance-level lane detection for autonomous vehicle control includes: receiving training image data from a training image data collection system; performing a training phase to train a plurality of tasks associated with features of the training image data, the training phase including extracting roadway lane marking features from the training image data, causing the plurality of tasks to generate task-specific predictions based on the training image data, determining a bias between the task-specific prediction for each task and corresponding task-specific ground truth data, and adjusting parameters of each of the plurality of tasks to cause the bias to meet a pre-defined confidence level; receiving image data from an image data collection system associated with an autonomous vehicle; and performing an operational phase including extracting roadway lane marking features from the image data, causing the plurality of trained tasks to generate instance-level lane detection results.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: April 6, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Tian Li, Panqu Wang, Pengfei Chen
  • Patent number: 10971022
    Abstract: The disclosure relates to drone user equipment (UE) indications that may be conveyed to a wireless network. In particular, a UE that has flight capabilities (i.e., capabilities to operate as an unmanned aircraft system) and optional further capabilities to report a current height level may indicate such capabilities to the wireless network. As such, the wireless network may differentiate the drone UE from other UEs that only operate on the ground. Furthermore, the optional current height level may enable the wireless network to differentiate among drone UEs operating at different heights and/or from other UEs that are operating on the ground. The wireless network may further use the information indicating the flight capabilities either alone or in combination with the optional height information to configure power control parameters, manage interference, provide mobility management functions, generate neighbor lists, control beamforming, or implement a radio resource configuration or management procedure.
    Type: Grant
    Filed: July 30, 2018
    Date of Patent: April 6, 2021
    Assignee: Qualcomm Incorporated
    Inventors: Aleksandar Damnjanovic, Juan Montojo, Yongbin Wei, Peter Gaal, Alberto Rico Alvarino, Edward Teague
  • Patent number: 10967876
    Abstract: A vehicle control system including: a surrounding state detector is configured to detect a state of the surroundings, a first running assistor is configured to automatically control at least acceleration/deceleration or steering such that the subject vehicle can run along a route to a destination; a monitor is configured to monitor whether or not the first running assistor is in a predetermined state and limit an operation of the first running assistor in a case in which the first running assistor is in the predetermined state; and a second running assistor is configured to assist a occupant's driving on the basis of the result of the detection executed and perform steering control according to a relation between the subject vehicle and a lane in a case in which the first running assistor is determined as being in the predetermined state.
    Type: Grant
    Filed: March 9, 2016
    Date of Patent: April 6, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Masahiko Asakura, Hironobu Kiryu, Satoru Otsuka
  • Patent number: 10969005
    Abstract: A control system for a vehicle including a power transmission system and a switching device has an electronic control unit configured to make a door open-close determination as to whether a door of the vehicle is open or closed, using an open-close signal indicating opening or closing of the door, and execute automatic parking control by causing the switching device to switch the power transmission system to the parking state, when the door open-close determination indicates that the door is open, while the vehicle is stopped with the power transmission system placed in the non-parking state. The electronic control unit determines that the door is open, when the open-close signal generated from at least one of a plurality of sensors provided for the same door changes from a close signal to an open signal.
    Type: Grant
    Filed: December 5, 2019
    Date of Patent: April 6, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Yusuke Nakade
  • Patent number: 10967846
    Abstract: Some embodiments of the invention provide a speed control system (10, 12) for a vehicle (100), comprising: torque control means (12) for automatically causing application of positive and negative torque, as required, to one or more wheels (111, 112, 114, 115) of a vehicle (100) to cause a vehicle (100) to travel in accordance with a target speed value; path prediction means (10) for predicting a path PP of the vehicle (100) in a direction of travel; detection means (10) for detecting one or more objects (195) ahead of the vehicle (100); determining means (10) to determine whether one or more objects (195) detected by the detection means (10) lie outside the predicted path (PP); and control means (12) configured to, if said one or more detected objects (195) are determined to lie outside the predicted path (PP), automatically temporarily reduce the vehicle speed in dependence at least in part on a distance of the one or more detected objects (195) from the predicted path (PP).
    Type: Grant
    Filed: February 10, 2017
    Date of Patent: April 6, 2021
    Assignee: JAGUAR LAND ROVER LIMITED
    Inventors: Arun Raveendran, Andrew Fairgrieve
  • Patent number: 10963560
    Abstract: The present disclosure provides a method and apparatus for anti hacker's hijacking of an autonomous vehicle, a device and a storage medium, wherein the method comprises monitoring an autonomous vehicle's running data; determining whether the autonomous vehicle is hijacked by a hacker according to a monitoring result and a preset rule; activating an anti-hijack emergency handling operation if it is determined that the autonomous vehicle is hijacked by the hacker. The solution of the present disclosure may be applied to improve safety of the autonomous vehicle.
    Type: Grant
    Filed: April 12, 2018
    Date of Patent: March 30, 2021
    Assignee: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD.
    Inventor: Zhao Xue
  • Patent number: 10966089
    Abstract: Systems and methods are provided for smart-landmark-based positioning. Such methods may include detecting, using a sensor mounted on a vehicle, a landmark object, obtaining landmark information of the detected landmark object, the landmark information including identification of the landmark object and an encrypted location of the landmark object, transmitting, from the vehicle over a wireless network, a query including at least part of the obtained landmark information, receiving, by the vehicle over the wireless network, a query response including additional information of the landmark.
    Type: Grant
    Filed: July 16, 2018
    Date of Patent: March 30, 2021
    Assignee: Beijing Voyager Technology Co., Ltd.
    Inventor: Qi Chen
  • Patent number: 10962979
    Abstract: A system and method for multitask processing for autonomous vehicle computation and control includes: receiving training image data from a training image data collection system; performing a training phase to train a plurality of tasks associated with features of the training image data, the training phase including extracting common features from the training image data, causing the plurality of tasks to generate task-specific predictions based on the training image data, determining a bias between the task-specific prediction for each task and corresponding task-specific ground truth data, and adjusting parameters of each of the plurality of tasks to cause the bias to meet a pre-defined confidence level; receiving image data from an image data collection system associated with an autonomous vehicle; and performing an operational phase including extracting common features from the image data, causing the plurality of trained tasks to concurrently generate task-specific predictions based on the image data.
    Type: Grant
    Filed: September 30, 2017
    Date of Patent: March 30, 2021
    Assignee: TUSIMPLE, INC.
    Inventors: Xiangchen Zhao, Tian Li, Panqu Wang, Pengfei Chen
  • Patent number: 10962370
    Abstract: A mapping system, comprising an inertial measurement unit; a camera unit; a laser scanning unit; and a computing system in communication with the inertial measurement unit, the camera unit, and the laser scanning unit, wherein the computing system computes first measurement predictions based on inertial measurement data from the inertial measurement unit at a first frequency, second measurement predictions based on the first measurement predictions and visual measurement data from the camera unit at a second frequency and third measurement predictions based on the second measurement predictions and laser ranging data from the laser scanning unit at a third frequency.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: March 30, 2021
    Assignee: Kaarta, Inc.
    Inventors: Ji Zhang, Sanjiv Singh
  • Patent number: 10963493
    Abstract: A system comprises a motor and a base. The motor is configured to control the physical movement of the system and the base is configured to be coupled with a computing device. The computing device is configured to receive an indication of a target object and detect an obstacle object in a physical environment of the system. In response to detecting an obstacle object, the computing device provides to a user an inquiry associated with the detected obstacle object and receives a natural language response. Based at least in part on the natural language response, the computing device controls the motor to navigate the system around the detected obstacle object. Once the target object is detected, the computing device provides an indication that the target object has been located.
    Type: Grant
    Filed: September 26, 2018
    Date of Patent: March 30, 2021
    Inventors: Yi Hu, Run Cui, Hong Shik Shinn
  • Patent number: 10953870
    Abstract: The present disclosure relates to an apparatus for controlling the parking of a vehicle, a system having the same, and a method thereof. the apparatus for controlling parking of a vehicle includes a processor determining whether to generate a virtual object, depending on a length of a parking space and a current location of a vehicle, determining a parking target space in the parking space based on the virtual object upon generating the virtual object, generating a parking trajectory such that the vehicle is parked to the parking target space, to perform parking control based on the parking trajectory, when the parking space between a first object and a second object is scanned, and storage storing information generated by the processor.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: March 23, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Jong Ho Park, Dong Hae Kim, Gil Won Seo
  • Patent number: 10955847
    Abstract: In embodiments of an autonomous vehicle interface system, system nodes are each implemented as a distributed node for independent data processing of low-level sensor data and/or high-level system data. The high-level system data is abstracted from the low-level sensor data, providing invariance to system configuration in higher-level processing algorithms. The autonomous vehicle interface system includes at least one real-time bus for data communications of the low-level sensor data and the high-level system data between the system nodes. The system also includes an application programming interface (API) configured for access by the system nodes to the low-level sensor data and the high-level system data that is published on the real-time bus and accessible via the API.
    Type: Grant
    Filed: March 9, 2018
    Date of Patent: March 23, 2021
    Assignee: REE TECHNOLOGY GMBH
    Inventors: Joshua John Hartung, Jonathan Lamb, David Paul Miller, Robert Dean Hambrick
  • Patent number: 10957197
    Abstract: A vehicle driving assistance system capable of providing a driver of a vehicle with appropriate driving assistance when the vehicle is approaching an intersection. If a traffic signal includes multiple aspects that are in accord with the directions of traffic movement at an intersection, an identifier determines whether an intended direction of movement (an intention to turn right or left) at the intersection has been received from a driver through an identifying device. If the identifier has received an intended direction of movement, an aspect (a right-turn or left-turn arrow aspect) for which assistance is provided through communication by a reporter is identified. The reporter then assists the right or left turn of the vehicle for the intersection in step S7. If the identifier does not receive an intended direction of movement from the driver, the reporter assists only a straight-ahead movement of the vehicle in step S7.
    Type: Grant
    Filed: March 19, 2020
    Date of Patent: March 23, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hiroshi Kamakura, Minoru Kobayashi, Masataka Izawa, Takahiro Kurehashi, Hiroki Nakajima, Yoshinori Kinoshita
  • Patent number: 10952369
    Abstract: A grass management system includes a first moisture-obtaining device to obtain a first moisture value of grass in a mowing operation performed by a mower, a position-detecting device to detect a mowing position of the mower, and a creation supporting circuit to support creation of an operation plan for a working machine based on the first moisture value and the mowing position, the working machine being configured to perform an operation relating to the grass already mowed. The grass management system includes a moisture map creating circuit to create a moisture map of an agricultural field based on the first moisture value and the mowing position. The creation supporting circuit is configured to display the moisture map that is created by the moisture map creating circuit in creating the operation plan.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: March 23, 2021
    Assignee: KUBOTA CORPORATION
    Inventors: Hiroyuki Araki, Yasuhisa Uoya, Yoshito Hayakawa, Yuto Kamiya, Ryuji Hashizume
  • Patent number: 10955851
    Abstract: A method and system of determining whether a stationary vehicle is a blocking vehicle to improve control of an autonomous vehicle. A perception engine may detect a stationary vehicle in an environment of the autonomous vehicle from sensor data received by the autonomous vehicle. Responsive to this detection, the perception engine may determine feature values of the environment of the vehicle from sensor data (e.g., features of the stationary vehicle, other object(s), the environment itself). The autonomous vehicle may input these feature values into a machine-learning model to determine a probability that the stationary vehicle is a blocking vehicle and use the probability to generate a trajectory to control motion of the autonomous vehicle.
    Type: Grant
    Filed: February 14, 2018
    Date of Patent: March 23, 2021
    Assignee: Zoox, Inc.
    Inventors: Mahsa Ghafarianzadeh, Benjamin Sapp