Modification Or Correction Of Route Information Patents (Class 701/26)
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Patent number: 12128923Abstract: Machine learning model optimization systems and methods are disclosed. A system receives sensor data captured by one or more sensors of a vehicle during a first time period. The vehicle uses a first trained machine learning (ML) model for one or more decisions of a first decision type during the first time period. The system generates a second trained ML model at least in part by using the sensor data to train the second trained ML model. The system identifies an optimal trained ML model from a plurality of trained ML models. The plurality of trained ML models includes the first trained ML model and the second trained ML model. The system causes the vehicle to use the optimal trained ML model for one or more further decisions of the first decision type during a second time period after the first time period.Type: GrantFiled: March 9, 2022Date of Patent: October 29, 2024Assignee: GM Cruise Holdings LLCInventors: Jeremy Adam Malloch, Burkay Donderici, Siyuan Lu
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Patent number: 12122369Abstract: The present disclosure provides a route processing method and apparatus. The solution includes: acquiring an initial traveling route, which includes a plurality of track points, corresponding to a vehicle; determining a vehicle traveling area, which includes an area where the vehicle is located when traveling to the track point, corresponding to each track point; determining at least one target track point in the plurality of track points according to the vehicle traveling area, where a first obstacle exists in the vehicle traveling area; performing updating processing on a position of each target track point in the initial traveling route respectively according to the position of the each target track point and a position of the first obstacle, and obtaining a target traveling route according to the target track point for which the updating processing has been performed; and controlling the vehicle to travel according to the target traveling route.Type: GrantFiled: April 5, 2022Date of Patent: October 22, 2024Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.Inventors: Lantian Shangguan, Guibin Tian, Songtao Chang
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Patent number: 12116253Abstract: A method of controlling a movable body includes: a step of causing a sensor provided on the movable body to detect an obstacle; a step of determining the position and attitude of a front surface, of the obstacle, opposite to the travel direction of the movable body based on the detection result of the obstacle; a step of generating an avoidance path that avoids the obstacle while heading toward a side of a first direction intersecting the travel direction based on the position and attitude of the front surface; a step of causing the movable body to move along the avoidance path; a step of detecting the obstacle while the movable body is moving along the avoidance path; a step of determining the position and attitude of the side surface of the obstacle on the side of the first direction based on the detection result obtained during movement along the avoidance path; and a step of updating the avoidance path so as to return to a side of a second direction opposite to the first direction while avoiding the obstaType: GrantFiled: March 7, 2022Date of Patent: October 15, 2024Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.Inventors: Hiroki Kawashima, Kenji Takao, Katsumasa Kitajima
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Patent number: 12116007Abstract: Aspects of the disclosure provide a method of generating and following planned trajectories for an autonomous vehicle. For instance, a baseline for a planned trajectory that the autonomous vehicle can use to follow a route to a destination may be determined. A stopping point corresponding to a traffic control that will cause the autonomous vehicle to come to a stop using the baseline may be determined. Sensor data identifying objects and their locations may be received. A plurality of constraints may be generated based on the sensor data. A planned trajectory may be generated using the baseline, the stopping point, and the plurality of constraints, wherein constraints beyond the stopping point are ignored.Type: GrantFiled: December 9, 2020Date of Patent: October 15, 2024Assignee: Waymo LLCInventors: Jared Russell, Jens-Steffen Gutmann, Ioan-Alexandru Sucan
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Patent number: 12110035Abstract: A method, an apparatus and a computer program product for enhancing training of autonomous movement models based on map-based annotations. The method comprises augmenting an original training set with map based annotated modified scenarios at least one of which affects a path and at least one of which does not affect a path. The method comprises generating modified driving scenarios introducing a synthetic path altering object into the functional map representing the original movement or driving scenario, that induces a driving path that is different than the original path; and other modified driving scenarios that introduce a path non-altering object into the functional map of the original scenario, that the original path is applicable therein. An autonomous driving model for predicting driving path within a road segment based on a functional map representation is trained using the modified driving scenarios.Type: GrantFiled: November 6, 2022Date of Patent: October 8, 2024Assignee: IMAGRY ISRAEL LTD.Inventors: Khaled Fahoum, Suhail Habib, Ilan Shaviv
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Patent number: 12110013Abstract: A system of controlling operation of a vehicle includes one or more sensors operatively connected to the vehicle. The sensors are configured to obtain respective data of a scene and include a radar unit. A command unit is adapted to receive the respective data and includes a processor and tangible, non-transitory memory on which instructions are recorded. The command unit is configured to determine an orientation angle of a pedestrian in the scene, a Doppler frequency of the pedestrian and a distance of the pedestrian from a border of a road, based in part on the respective data. The orientation angle is based on a heading of the pedestrian relative to a direction of a road. The command unit is configured to designate a status of the pedestrian as either crossing or not crossing based on the distance, the orientation angle and the Doppler frequency of the pedestrian.Type: GrantFiled: October 7, 2022Date of Patent: October 8, 2024Assignee: GM Global Technology Operations LLCInventors: Oded Bialer, Siddhartha Gupta
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Patent number: 12103543Abstract: A comfort determination model learning unit 81 learns a comfort determination model, by using comfortable activity data where a comfort indicator, which is an indicator measuring whether an individual is comfortable or not when an activity classified as a comfortable activity is performed, is associated with a teacher label indicating comfort, and uncomfortable activity data where the comfort indicator when an activity classified as an uncomfortable activity is performed, is associated with a teacher label indicating discomfort, as first training data, taking an objective variable for a comfort value indicating a degree of comfort, and taking an explanatory variable for each of the comfort indicators. An individual data generation unit 82 generates individual data including explanatory variables, which are used in the comfort determination model, generated based on the comfort indicators of the subject during riding on a vehicle, and driving situations of the vehicle when the comfort indicators are obtained.Type: GrantFiled: May 22, 2020Date of Patent: October 1, 2024Assignee: NEC CORPORATIONInventors: Asako Fujii, Yusuke Koitabashi, Takuroh Kashima, Yuki Chiba, Kenji Sobata
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Patent number: 12106580Abstract: Disclosed is a method of providing a proximity warning using a head-worn device. A distance is determined between the head worn device and a relevant object, such as a cyclist, jogger or vehicle, using image-processing techniques. A speed of the head-worn device is determined using a GPS receiver or other position components located in the head-worn device or an associated user-device. A braking distance for the head-worn device is determined based on the speed of the head-worn device, and compared to the distance to the relevant object. A warning notification is provided by the head-worn device if the distance to the relevant object is less than the braking distance.Type: GrantFiled: June 14, 2022Date of Patent: October 1, 2024Assignee: Snap Inc.Inventors: Sharon Moll, Tomasz Zakrzewski
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Patent number: 12097763Abstract: When an occupant has performed a specific operation that is an operation different to an input operation on a state switching section while in a state in which a display section capable of displaying information related to an input section is not displaying the information, a processor causes the information to be displayed on the display section and places the input section in an input enabled state in which the input operation is receivable. Moreover, when the occupant has not performed the specific operation on the state switching section while in state in which the information is not being displayed on the display section, the processor does not cause the information to be displayed on the display section and places the input section in an input disabled state in which the input operation is not receivable.Type: GrantFiled: August 11, 2022Date of Patent: September 24, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Yuki Kozono, Shu Nakajima
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Patent number: 12091018Abstract: A system for determining a type of a road upon which a vehicle is traveling includes a processor and a memory in communication with the processor. The memory has a road type determination module having has instructions that cause the processor to determine, using sensor data having information about at least one of a vehicle and a road upon which the vehicle is traveling, that the vehicle previously traveled on a ramp leading to a limited access highway. The road type determination module also has instructions that cause the processor to determine, using the sensor data, that the road is a limited access highway when the vehicle is traveling at or below a first predetermined speed for a first predetermined amount of time sufficiently immediately after determining that the vehicle was traveling on a ramp, and the vehicle is behind one or more preceding slow-moving vehicles.Type: GrantFiled: February 4, 2022Date of Patent: September 17, 2024Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.Inventors: Noah Mitchell Einstein, Vladimeros Vladimerou
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Patent number: 12094344Abstract: Disclosed is a system for providing a big data-based AI automatic allocation matching service using taxi demand prediction. The system comprises a user terminal, a taxi terminal and a matching service providing server including a big datafication unit, a prediction unit, a transmission unit, a matching unit, and an alarm unit.Type: GrantFiled: September 29, 2020Date of Patent: September 17, 2024Assignee: Nature Mobility Co., Ltd.Inventor: Ju Sang Lee
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Patent number: 12085939Abstract: A system and a method of operating an automated guided vehicle includes: an Automated Guided Vehicle (AGV) which is loaded with a component and transfers the component along a set travelling path in a vehicle production factory; a Programmable Logic Controller (PLC) which is provided in a process line and each of a plurality of nodes existing on the travelling path and controls a peripheral automation facility; and an operation server which is configured to control an operation of the AGV and each automation facility through the PLC, and sets a PLC control condition for controlling each automation facility for each section by collecting PLC memory data from the PLC and inquiring the PLC memory data based on a movement position of the AGV when the travelling path is set.Type: GrantFiled: December 1, 2021Date of Patent: September 10, 2024Assignees: Hyundai Motor Company, Kia CorporationInventors: Kyung Dong Park, Sang Won Yoon
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Patent number: 12080044Abstract: Techniques for determining unified futures of objects in an environment are discussed herein. Techniques may include determining a first feature associated with an object in an environment and a second feature associated with the environment and based on a position of the object in the environment, updating a graph neural network (GNN) to encode the first feature and second feature into a graph node representing the object and encode relative positions of additional objects in the environment into one or more edges attached to the node. The GNN may be decoded to determine a distribution of predicted positions for the object in the future. A predicted position of the object at a subsequent timestep may be determined by sampling from the distribution of predicted positions according to various sampling strategies. Alternatively, the predicted position of the object may be overwritten using a candidate position of the object.Type: GrantFiled: November 24, 2021Date of Patent: September 3, 2024Assignee: Zoox, Inc.Inventors: Gowtham Garimella, Marin Kobilarov, Andres Guillermo Morales Morales, Ethan Miller Pronovost, Kai Zhenyu Wang, Xiaosi Zeng
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Patent number: 12066824Abstract: A system for autonomous or semi-autonomous operation of a vehicle is disclosed. The system includes a machine automation portal (MAP) application configured to enable a computing device to (a) display a map of a work site and (b) provide a graphical user interface that enables a user to (i) define a boundary of an autonomous operating zone on the map and (ii) define a boundary of one or more exclusion zones. The system also includes a robotics processing unit configured to (a) receive the boundary of the autonomous operating zone and the boundary of each exclusion zone from the computing device, (b) generate a planned command path that the vehicle will travel to perform a task within the autonomous operating zone while avoiding each exclusion zone, and (c) control operation of the vehicle so that the vehicle travels the planned command path to perform the task.Type: GrantFiled: June 30, 2021Date of Patent: August 20, 2024Assignee: EQUIPMENTSHARE.COM INCInventors: William J. Schlacks, IV, Brian Adams, James Dianics, Ian Graves, Rob Martin, Scott Pfursich
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Patent number: 12061265Abstract: The present disclosure generally pertains to time-of-flight simulation data training circuitry, configured to: obtain time-of-flight camera model data based on a time-of-flight camera model modelling a real time-of-flight camera of a real time-of-flight camera type; obtain real time-of-flight data from at least one real time-of-flight camera of the real time-of-flight camera type; determine a difference between the real time-of-flight data and the time-of-flight camera model data; and update, based on the determined difference, the time-of-flight camera model for generating simulated time-of-flight data representing the real time-of-flight camera.Type: GrantFiled: November 16, 2021Date of Patent: August 13, 2024Assignee: SONY SEMICONDUCTOR SOLUTIONS CORPORATIONInventors: Gianluca Agresti, Henrik Schäfer, Yalcin Incesu, Piergiorgio Sartor, Pietro Zanuttigh
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Patent number: 12060060Abstract: The techniques discussed herein may comprise an autonomous vehicle guidance system that generates a group of candidate trajectories based at least in part on sensor data. This group of candidate trajectories is clustered into two or more clusters and one or more representative trajectories may be determined for each cluster. The representative trajectory may be one of the trajectories in the cluster or a separately determined trajectory that represents the trajectories in a cluster, such as a mean or median trajectory. The representative trajectory may be used to predict how a dynamic object would react to the representative trajectory. This prediction may be used to determine potentially different costs associated with the different trajectories of the cluster with which the representative trajectory is associated. These costs may include costs to induce following behavior by the autonomous vehicle and/or cost(s) associated with conditionally available roadway portions.Type: GrantFiled: August 31, 2021Date of Patent: August 13, 2024Assignee: Zoox, Inc.Inventors: Adrian Michael Costantino, Rasmus Fonseca, Liam Gallagher, Marin Kobilarov, Mark Jonathon McClelland, Yunpeng Pan
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Patent number: 12055942Abstract: Techniques for validating and correcting teleoperation signals for an autonomous vehicle are described herein. In some examples, a system may receive, from a remote computing device, an instruction to stop movement of an autonomous. The system may determine, based at least in part on map data, that the instruction is associated with stopping the autonomous vehicle in a non-stopping area. In response to determining that the instruction is associated with stopping the autonomous vehicle in the non-stopping area, the system may determine to continue movement of the autonomous vehicle beyond the no-stopping area. The system may further identify a stopping location that is at least partially outside of the no-stopping area and control the autonomous vehicle to instead stop at the stopping location.Type: GrantFiled: March 31, 2022Date of Patent: August 6, 2024Assignee: Zoox, Inc.Inventors: Ravi Gogna, Arian Houshmand
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Patent number: 12054158Abstract: A vehicle, in a temporary stop state during driving, is configured to identify a passenger failing to re-board after alighting, and communicate with the passenger to guide the passenger to re-board the vehicle. A method of controlling the vehicle includes primarily checking a number of passengers inside the vehicle through analysis of a first image obtained by photographing an interior of the vehicle when the vehicle enters a stop state during driving; in response to the vehicle being restarted after the stop, secondly checking the number of the passengers inside the vehicle through analysis of a second image obtained by photographing the interior of the vehicle; and in response to the secondly checked number of the passengers being less than the primarily checked number of the passengers, identifying that the passenger failing to re-board after alighting from the vehicle exists.Type: GrantFiled: September 28, 2021Date of Patent: August 6, 2024Assignees: Hyundai Motor Company, Kia CorporationInventor: Sungchan Park
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Patent number: 12043282Abstract: Various examples are directed to systems and methods for directing a field-of-view of a first sensor positioned on an autonomous vehicle. In one example, at least one processor selects a goal location on at least one travel way in an environment of the autonomous vehicle. The selecting of the goal location is based at least in part on map data describing at least one travel way in an environment of the autonomous vehicle and pose data describing a position of the autonomous vehicle in the environment. The at least one processor determines a field-of-view position to direct the first sensor towards the goal location based at least in part on the sensor position data. The at least one processor sends a field-of-view command to the first sensor. The field-of-view command modifies the field-of-view of the first sensor based on the field-of-view position.Type: GrantFiled: January 24, 2023Date of Patent: July 23, 2024Assignee: Aurora Operations, Inc.Inventors: James Robert Curry, Fangrong Peng
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Patent number: 12039438Abstract: Systems, methods, and other embodiments described herein relate to improving trajectory forecasting in a device. In one embodiment, a method includes, in response to receiving sensor data about a surrounding environment of the device, identifying an object from the sensor data that is present in the surrounding environment. The method includes determining category probabilities for the object, the category probabilities indicating semantic classes for classifying the object and probabilities that the object belongs to the semantic classes. The method includes forecasting trajectories for the object based, at least in part, on the category probabilities and the sensor data. The method includes controlling the device according to the trajectories.Type: GrantFiled: December 4, 2020Date of Patent: July 16, 2024Assignee: Toyota Research Institute, Inc.Inventors: Boris Ivanovic, Kuan-Hui Lee, Jie Li, Adrien David Gaidon, Pavel Tokmakov
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Patent number: 12037013Abstract: Automating reinforcement learning for autonomous vehicles may include assigning a probability with a scenario and varying that probability based at least in part on changes in performance by the autonomous vehicle associated with that scenario. The amount of time and computational bandwidth required to train a machine-learned component of an autonomous vehicle and the accuracy of the machine-learned component may be improved by determining a reward for performance of the autonomous vehicle in a scenario based at least in part on an severity metric. The impact severity metric may be determined based at least in part on a velocity, angle, and/or interaction area associated with the impact.Type: GrantFiled: October 29, 2021Date of Patent: July 16, 2024Assignee: Zoox, Inc.Inventors: Gary Linscott, Andreas Pasternak, Jefferson Bradfield Packer, Marin Kobilarov
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Patent number: 12037025Abstract: Systems and methods are disclosed for motion forecasting and planning for autonomous vehicles. For example, a plurality of future traffic scenarios are determined by modeling a joint distribution of actor trajectories for a plurality of actors, as opposed to an approach that models actors individually. As another example, a diversity objective is evaluated that rewards sampling of the future traffic scenarios that require distinct reactions from the autonomous vehicle. An estimated probability for the plurality of future traffic scenarios can be determined and used to generate a contingency plan for motion of the autonomous vehicle. The contingency plan can include at least one initial short-term trajectory intended for immediate action of the AV and a plurality of subsequent long-term trajectories associated with the plurality of future traffic scenarios.Type: GrantFiled: November 17, 2021Date of Patent: July 16, 2024Assignee: UATC, LLCInventors: Alexander Yuhao Cui, Abbas Sadat, Sergio Casas, Renjie Liao, Raquel Urtasun
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Patent number: 12037018Abstract: Systems and methods are provided for navigating a host vehicle. At least one processing device may be programmed to receive an image of an environment of the host vehicle; detect, based on analysis of the image, a pedestrian crosswalk in the image; detect a presence of a traffic light and determine whether the traffic light is relevant to the host vehicle and the pedestrian crosswalk; determine a state of the traffic light; determine, when a pedestrian appears in the image, a proximity of the pedestrian relative to the pedestrian crosswalk; determine a planned navigational action for navigating the host vehicle relative to the pedestrian crosswalk based on a driving policy, the state of the traffic light and the proximity of the pedestrian relative to the pedestrian crosswalk; and cause one or more actuator systems of the host vehicle to implement the planned navigational action.Type: GrantFiled: February 12, 2021Date of Patent: July 16, 2024Assignee: Mobileye Vision Technologies Ltd.Inventors: Shai Shalev-Shwartz, Shaked Shammah, Amnon Shashua, Barak Cohen, Zeev Adelman
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Patent number: 12030509Abstract: The technology relates to generating simulations in order to evaluate software used to control vehicles in an autonomous driving mode. In one example, an initial situation involving a certain kind of interaction between a vehicle operating in the autonomous driving mode and an object may be identified. A search of log data may be conducted in order to identify one or more similar situations based on characteristics of the initial situation. A new simulation may be generated using the identified one or more similar situations by inserting the object into the one or more similar situations. The new simulation may be run in order to evaluate the software.Type: GrantFiled: November 25, 2020Date of Patent: July 9, 2024Assignee: Waymo LLCInventors: Carl Nygaard, Zhenzhen Liu, Constantin Scholl
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Patent number: 12024164Abstract: An autonomous driving control system and a method thereof are provided. The autonomous driving control system includes a strategy performing device that generates and performs a stop strategy of a vehicle on the basis of a target stop location, when a critical situation occurs during autonomous driving, a behavior controller that controls a behavior of the vehicle depending on the stop strategy, and an emergency module controller that runs a predetermined emergency module, when the critical situation occurs.Type: GrantFiled: April 7, 2023Date of Patent: July 2, 2024Assignees: Hyundai Motor Company, Kia CorporationInventors: Dong Hwi Lee, Keon Chang Lee, Su Jung Yoo
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Patent number: 12024163Abstract: Systems and methods of alerting an occupant of a vehicle to an obstacle to a side of the vehicle. The systems and methods include receiving turn indicating data from at least one vehicle system, receiving perception data from a perception system of the vehicle, predicting a vehicle turn based on the turn predicting data, generating an obstacle alert, which is output through an output device of the vehicle, when an obstacle is detected within a first sized detection zone or a second sized detection zone using the perception data, and switching from using the first sized detection zone to using the second sized detection zone for generating the obstacle alert in response to predicting the vehicle turn. The second sized detection zone is extended as compared to the first sized detection zone.Type: GrantFiled: May 12, 2022Date of Patent: July 2, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Mohammadali Shahriari, Vaibhav J Lawand, Hassan Askari, Rakesh Kumar, Ricky Lin
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Patent number: 12024202Abstract: An autonomous vehicle location providing apparatus for providing a location of an autonomous vehicle which travels to a location of a user depending on a call of the user and a method thereof are provided. The autonomous vehicle location providing apparatus receives a call, a call location, and user information from a user's terminal and communicates with the user's terminal around an autonomous vehicle corresponding to the user information, while the autonomous vehicle travels to the call location depending on the call. The autonomous vehicle location providing apparatus provides a location of the autonomous vehicle which travels to a location of the user depending on a call of the user to recognize a customer who calls an auto-taxi.Type: GrantFiled: December 8, 2021Date of Patent: July 2, 2024Assignees: HYUNDAI MOTOR COMPANY, KIA CORPORATIONInventors: Jae Kyung Choi, Yong Seok Jeong
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Patent number: 12005581Abstract: Provided is a control method, an electronic device and a storage medium. The method comprises: when a first yarn spindle with a first identifier is transported on a transport channel and determining that the number of first yarn spindles located in a preset area needs to be detected, detecting the first number of first yarn spindles located in the preset area; and when the first number of first yarn spindles is less than the total number of yarn spindles that the first mechanical arm can grab, determining the target number of first yarn spindles to be replenished, and generating a first control instruction to instruct a second mechanical arm to grab the target number of first yarn spindles from a target trolley associated with the first identifier of the first yarn spindle, and place the target number of first yarn spindles in the transport channel or preset area.Type: GrantFiled: December 15, 2023Date of Patent: June 11, 2024Assignees: Zhejiang Hengyi Petrochemical Co., Ltd., Zhejiang Hengyi Polyamide Co., Ltd.Inventors: Peng Wang, Xiantao Peng, Junwei Zhang, Zhangzhong Cheng, Jifei Chen, Yanjun Jiang
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Patent number: 12005903Abstract: In an exemplary embodiment, a vehicle system is provided that includes a sensor array and a processor. The sensor array is configured to generate vehicle sensor data pertaining to a target vehicle in proximity to the vehicle. The processor is coupled to the sensor array, and is configured to at least facilitate: beginning an overtake maneuver for the vehicle, via instructions provided to the drive system, when conditions for an overtake of the target vehicle by the vehicle are initially determined by the processor to be valid; subsequent to the beginning of the overtake maneuver, determining via the processor whether the conditions for the overtake of the target vehicle are still valid, based on updated sensor data reflecting variant traffic conditions; and further controlling the overtake maneuver based on the determining as to whether the conditions for the overtake of the target vehicle are still valid.Type: GrantFiled: December 9, 2021Date of Patent: June 11, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Paul A Adam, Jeffrey S Parks, Christopher J Trush, Christopher Michael Churay, Namal P Kumara
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Patent number: 12003261Abstract: Systems, devices, and methods related to using model architecture search for hardware configuration are provided. A method includes receiving, by a computer-implemented system, information associated with a pool of processing units; receiving, by the computer-implemented system, a data set associated with a data transformation operation; training, based on the data set and the information associated with the pool of processing units, a parameterized model associated with the data transformation operation, where the training includes updating at least one parameter of the parameterized model associated with configuring at least a subset of the processing units in the pool; and outputting, based on the training, one or more configurations for at least the subset of the processing units in the pool.Type: GrantFiled: April 29, 2022Date of Patent: June 4, 2024Assignee: Analog Devices, Inc.Inventors: Tao Yu, Cristobal Alessandri, Frank Yaul, Wenjie Lu, Shyam Chandrasekhar Nambiar
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Patent number: 11993278Abstract: A driving assistance device to be installed on a vehicle is provided. The driving assistance device receives stop-behavior information of the vehicle from an automatic-driving control device. Inquiry information for notifying an occupant on whether a possibility of collision between the vehicle and a person is to be excluded from decision-making of the automatic-driving control device is output when a distance between the person and a point at which the person is predicted to end crossing is greater than or equal to a first threshold and a speed of the person is less than or equal to a second threshold. A command to exclude the possibility of collision between the vehicle and the person from the decision-making is output to the automatic-driving control device when a response signal of a response operation is performed by the occupant.Type: GrantFiled: May 18, 2023Date of Patent: May 28, 2024Assignee: PANASONIC AUTOMOTIVE SYSTEMS CO., LTD.Inventor: Koichi Emura
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Patent number: 11987251Abstract: A system includes a computing device. The computing device includes a processor and a memory, the memory including instructions such that the processor is configured to: transform vehicle dynamics data to corresponding roadway geometry data, calculate a rationalization value based on a difference between the roadway geometry data and map-based roadway geometry data, and determine whether to modify a vehicle state based on the rationalization value.Type: GrantFiled: November 15, 2021Date of Patent: May 21, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Mohammadali Shahriari, Reza Zarringhalam, Haley Marie Dalzell, Khizar Ahmad Qureshi, Patrick Francis Pirrmann
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Patent number: 11988516Abstract: A delivery plan generating method includes determining a start point that is point where delivery of a delivery object starts, determining an end point where the delivery of the delivery object finishes, determining a transfer point as a destination with reference to the start point, the end point, a position of the first mobile unit, and a position of the second mobile unit, the transfer point being a point where the delivery object is transferred from the first mobile unit to the second mobile unit, and generating a delivery plan for causing the first mobile unit to travel via the start point to the determined transfer point and causing the second mobile unit to travel via the determined transfer point to the end point.Type: GrantFiled: April 7, 2021Date of Patent: May 21, 2024Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventor: Satoru Hayama
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Patent number: 11988518Abstract: A computer-implemented method may comprise: receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element; generating a change candidate based on the change in the lane closure object; obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route; analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.Type: GrantFiled: June 17, 2020Date of Patent: May 21, 2024Assignee: NVIDIA CORPORATIONInventors: Ronghua Zhang, Marlene Wan, Yinghui Yao
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Patent number: 11981337Abstract: A system for providing smart road infrastructure for the purpose of vehicle safety and autonomous driving, comprising a plurality of road units, which are located along the borders of each traffic lane and equally spaced from each other, where each road unit includes a read/write passive RF tag; antenna for communicating with a plurality of transceivers, each of which is installed on each vehicle that travels along a traffic lane of said road, in response to signals transmitted from said transceivers; a memory for temporarily storing data regarding each vehicle traveling along said lane. Each car unit comprises a reader for interrogating said tags.Type: GrantFiled: December 10, 2019Date of Patent: May 14, 2024Inventor: Israel Fermon
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Patent number: 11981351Abstract: An automated driving system (ADS) of an autonomous vehicle includes a communication module, a misbehavior detection module, and a processor. The communication module is configured to receive a vehicle-to-vehicle (V2V) message including source vehicle data and receive a fusion data message including fusion data from a mobile edge computing (MEC) system including a roadside unit (RSU). The source vehicle data includes a source vehicle location. The fusion data is based on RSU sensed data and on vehicle sensed data received at the RSU from at least one vehicle. The misbehavior detection module is configured to determine whether a source vehicle is disposed at the source vehicle location based on the fusion data. The processor is configured to manage performance of the autonomous vehicle in accordance with the source vehicle data based at least in part on the determination. Other embodiments are described and claimed.Type: GrantFiled: February 25, 2022Date of Patent: May 14, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Wenyuan Qi, Kemal Ertugrul Tepe, Mohammad Naserian, Tianxiang Cao, Zhengyu Xing
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Patent number: 11975725Abstract: A computer implemented method for determining optimal values for operational parameters for a model predictive controller for controlling a vehicle, can receive from a data store or a graphical user interface, ranges for one or more external parameters. The computer implemented method can determine optimum values for external parameters of the vehicle by simulating a vehicle operation across the ranges of the one or more operational parameters by solving a vehicle control problem and determining an output of the vehicle control problem based on a result for the simulated vehicle operation. A vehicle can include a processing component configured to adjust a control input for an actuator of the vehicle according to a control algorithm and based on the optimum values of the vehicle parameter as determined by the computer implemented method.Type: GrantFiled: February 2, 2021Date of Patent: May 7, 2024Assignee: TOYOTA RESEARCH INSTITUTE, INC.Inventors: Michael Thompson, Carrie Bobier-Tiu, Manuel Ahumada, Arjun Bhargava, Avinash Balachandran
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Patent number: 11977393Abstract: An autonomous vehicle can access map data comprising travel ways within a surrounding environment of the autonomous vehicle, and further access constraint data that define original navigational constraints within the map data. The vehicle can further receive constraint files comprising additional navigational constraints within the map data and modify the constraint data based on the constraint files. The vehicle can determine a travel route to a destination using composite constraint data and autonomously driver to the destination along the travel route accordingly.Type: GrantFiled: January 8, 2021Date of Patent: May 7, 2024Assignee: UATC, LLCInventors: Bryan Nagy, Jordan Romaidis, Brett Bavar, Julie Derence, Marcial Hernandez, Tashwin Khurana
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Patent number: 11964654Abstract: A vehicle, and a system and method for operating the vehicle. The system includes a sensor and a processor. The sensor obtains a detection set related to an object at a range from the vehicle. The processor is configured to select a convolution path for the detection set based on a range of the object, wherein the convolution path includes one or more convolutional layers and a number of the one or more convolutional layers is dependent on the range of the object, apply the one or more convolutional layers of the selected convolution path to the detection set to generate a filtered data set, and operate the vehicle with respect to the object using the filtered data set.Type: GrantFiled: October 30, 2020Date of Patent: April 23, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Oded Bialer, Amnon Jonas
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Patent number: 11958493Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to control steering and acceleration/deceleration of the vehicle independently of an operation of a driver of the vehicle; and a mode decider configured to decide on any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle. The recognizer recognizes a sign existing within a reference range of a route along which the vehicle travels. The mode decider changes the driving mode of the vehicle from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of signs recognized by the recognizer exceeds a first reference value.Type: GrantFiled: December 28, 2020Date of Patent: April 16, 2024Assignee: HONDA MOTOR CO., LTD.Inventors: Sho Hitakatsu, Toshikazu Suwa, Masaki Nakajima
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Patent number: 11952004Abstract: A lane change assistance method is provided. The method includes recognizing styles of two traffic lines corresponding to a lane where a vehicle is located. Whether the vehicle violates traffic rules is determined according to the styles of the two traffic lines when the vehicle is performing an operation of changing lanes. A prompt is issued when the vehicle violates traffic rules.Type: GrantFiled: April 20, 2021Date of Patent: April 9, 2024Assignee: Chiun Mai Communication Systems, Inc.Inventors: Hsiu-Hua Yen, Jian-Cheng Lin, Chih-Pu Hsu
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Patent number: 11952015Abstract: Implementations process, using machine learning (ML) layer(s) of ML model(s), actor(s) from a past episode of locomotion of a vehicle and stream(s) in an environment of the vehicle during the past episode to forecast associated trajectories, for the vehicle and for each of the actor(s), with respect to a respective associated stream of the stream(s). Further, implementations process, using a stream connection function, the associated trajectories to forecast a plurality of associated trajectories, for the vehicle and each of the actor(s), with respect to each of the stream(s). Moreover, implementations iterate between using the ML layer(s) and the stream connection function to update the associated trajectories for the vehicle and each of the actor(s). Implementations subsequently use the ML layer(s) in controlling an AV.Type: GrantFiled: November 9, 2021Date of Patent: April 9, 2024Assignee: AURORA OPERATIONS, INC.Inventors: James Andrew Bagnell, Sanjiban Choudhury, Venkatraman Narayanan, Arun Venkatraman
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Patent number: 11954917Abstract: A present disclosure is a method of segmenting an abnormal robust for complex autonomous driving scenes and a system thereof, specifically relates to the technical field of an image segmenting system. The system includes: a segmentation module, configured to transmit an obtained input image to the segmentation network to obtain a segmentation prediction image, and then quantify the uncertainty of a segmentation prediction by means of calculating two different discrete metrics; a synthesis module, configured to match a generated data distribution with a data distribution of the input image by utilizing a conditional generative adversarial network; a difference module, configured to model and calculate the input image, an generated image, the semantic feature map and the uncertainty feature map based on an encoder, a fusion module and a decoder, to generate the segmentation prediction images for the abnormal objects; a model training module; and an integrated prediction module.Type: GrantFiled: July 12, 2023Date of Patent: April 9, 2024Assignee: Shandong Kailin Environmental Protection Equipment Co., Ltd.Inventors: Shouen Pang, Jichong Yang, Xiaoming Xi, Yang Ning, Longsheng Xu, Shixi Pang, Zhenxing Sun
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Patent number: 11951992Abstract: Disclosed is a vehicle positioning method and apparatus, a storage medium and an electronic device. The method comprises: prelocating a target vehicle in a running state based on a global positioning system to obtain a priori position of the target vehicle in a map; acquiring running image data collected by a camera sensor in the target vehicle in a target area where the priori position is located; visually recognizing the running image data by using a vector map of the target area, so as to acquire lateral position information and longitudinal position information about a position where the target vehicle is located currently; determining a target lane in which a target vehicle is located according to the transverse position information, and positioning a travel position of the target vehicle in the target lane according to the longitudinal position information.Type: GrantFiled: January 5, 2021Date of Patent: April 9, 2024Assignee: GUANGZHOU AUTOMOBILE GROUP CO., LTD.Inventors: Hai Xiao, Jin Shang
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Patent number: 11946758Abstract: A route selection device includes a processor configured to identify a position of a lane on which a vehicle is traveling; search for candidate partial routes leading from a current position of the vehicle to a waypoint on a route leading from a start point to a destination, the waypoint being located between the current position and the destination; determine a lane change location where a lane change will be made for each of the candidate partial routes found by searching; and select, as a partial route, a candidate partial route having a minimum total score regarding the lane change location from the candidate partial routes found by searching. The score is weighted depending on the position of the determined lane change location or whether a lane change at the lane change location can be controlled by a travel controller.Type: GrantFiled: June 16, 2021Date of Patent: April 2, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Takao Kashu, Yasutaka Teramae, Hirotaka Kato, Shuichi Morimoto, Ryo Masutani, Ichi Gi
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Patent number: 11927967Abstract: In one embodiment, a computing system of a vehicle may access sensor data associated with a surrounding environment of a vehicle. The system may generate, based on the sensor data, a first trajectory having one or more first driving characteristics for navigating the vehicle in the surrounding environment. The system may generate a second trajectory having one or more second driving characteristics by modifying the one or more first driving characteristics of the first trajectory. The modifying may use adjustment parameters based on one or more human-driving characteristics of observed human-driven trajectories such that the one or more second driving characteristics satisfy a similarity threshold relative to the one or more human-driving characteristics. The system may determine, based on the second trajectory, vehicle operations to navigate the vehicle in the surrounding environment.Type: GrantFiled: August 31, 2020Date of Patent: March 12, 2024Assignee: Woven by Toyota, U.S., Inc.Inventors: Ashesh Jain, Anantha Rao Kancherla, Taggart C Matthiesen
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Patent number: 11922804Abstract: A method of utilizing basic safety messages (BSMs) to provide insight of traffic situations to a vehicle-to-everything (V2X) enabled vehicle includes one or more of the following: transmitting BSMs from on-road vehicles; forwarding V2X messages including BSMs to a multi-access edge computing (MEC) server; extracting data samples from the V2X messages including BSMs; generating statistical results from the extracted data samples; and visualizing the statistical results for a driver of the vehicle.Type: GrantFiled: August 29, 2022Date of Patent: March 5, 2024Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventor: Yuan Zhang
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Patent number: 11915436Abstract: Techniques for integrating sensor data into a scene or map based on statistical data of captured environmental data are discussed herein. The data may be stored as a multi-resolution voxel space and the techniques may comprise first applying a pre-alignment or localization technique prior to fully integrating the sensor data.Type: GrantFiled: August 30, 2021Date of Patent: February 27, 2024Assignee: ZOOX, INC.Inventors: Patrick Blaes, Michael Carsten Bosse, Elena Stephanie Stumm, Derek Adams, Brice Rebsamen
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Patent number: 11904862Abstract: The automated driving system includes a vehicle speed detection device for detecting a speed of a vehicle, a display device capable of displaying a running lane and an adjacent lane of the vehicle, and a processor configured to control display content of the display device, and execute an autonomous lane change of the vehicle. The processor is configured to prohibit the autonomous lane change of the vehicle when a speed of the vehicle is less than a predetermined value. The processor is configured to hide the adjacent lane when the autonomous lane change is prohibited and start displaying the adjacent lane before the speed of the vehicle reaches the predetermined value if it is planned for the vehicle to accelerate from a speed below the predetermined value to a speed equal to or greater than the predetermined value in order to carry out the autonomous lane change.Type: GrantFiled: October 13, 2021Date of Patent: February 20, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Hironori Ito
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Patent number: 11899452Abstract: Various technologies described herein pertain to routing an autonomous vehicle based upon risk of takeover of the autonomous vehicle by a human operator. A computing system receives an origin location and a destination location of the autonomous vehicle. The computing system identifies a route for the autonomous vehicle to follow from the origin location to the destination location based upon output of a computer-implemented model. The computer-implemented model is generated based upon labeled data indicative of instances in which autonomous vehicles are observed to transition from operating autonomously to operating based upon conduction by human operators while the autonomous vehicles are executing predefined maneuvers. The computer-implemented model takes, as input, an indication of a maneuver in the predefined maneuvers that is performed by the autonomous vehicle when the autonomous vehicle follows a candidate route.Type: GrantFiled: August 31, 2021Date of Patent: February 13, 2024Assignee: GM CRUISE HOLDINGS LLCInventors: Geoffrey Louis Chi-Johnston, Vishal Suresh Vaingankar, Antony Joseph, Sean Gregory Skwerer, Lucio Otavio Marchioro Rech, Nitin Kumar Passa, Laura Athena Freeman, George Herbert Hines