Modification Or Correction Of Route Information Patents (Class 701/26)
  • Patent number: 10259591
    Abstract: This disclosure describes an unmanned aerial vehicle that may be configured during flight to optimize for agility or efficiency.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: April 16, 2019
    Assignee: Amazon Technologies, Inc.
    Inventors: Gur Kimchi, Daniel Buchmueller, Brian C. Beckman, Amir Navot
  • Patent number: 10213080
    Abstract: In a first mode, a control unit controls operation of driving wheels so that a main casing is made to travel straight and, upon detection of an object by an object sensor, the main casing is changed in traveling direction and made to travel straight. In a second mode, the control unit controls the operation of the driving wheels so that the main casing travels in a curved shape along an object detected by the object sensor. When a charging device is not found by a signal reception part during traveling within a region by the first mode, the control unit is changed over to the second mode. The control unit is changed over to the first mode when it is decided a specified number of times or more that the main casing has moved to a different region by the second mode.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: February 26, 2019
    Assignee: TOSHIBA LIFESTYLE PRODUCTS & SERVICES CORPORATION
    Inventors: Seiji Saito, Koichi Watanabe
  • Patent number: 10189567
    Abstract: Systems and methods are disclosed for determining a position of a camera affixed to a UAV in flight when the camera captures a digital aerial image. In particular, in one or more embodiments, the disclosed systems and methods utilize real time kinematic satellite navigation techniques to identify a position of a UAV. Moreover, the disclosed systems and methods precisely determine the time that a camera captures a digital aerial image together with an attitude of the UAV at the time of capture to calculate a location of a camera at the time of capture. In one or more embodiments, the disclosed systems and methods can utilize the determined position of the camera together with the captured digital aerial image to generate a three-dimensional representation of a site.
    Type: Grant
    Filed: June 9, 2016
    Date of Patent: January 29, 2019
    Assignee: SKYCATCH, INC.
    Inventors: David Chen, Colleen Kelly Twitty, Blaine Schanfeldt, James J Johnson, Jacob Federico
  • Patent number: 10181080
    Abstract: Methods and systems are disclosed including a computer storage medium, comprising instructions that when executed by one or more processors included in an Unmanned Aerial Vehicle (UAV), cause the UAV to perform operations, comprising: receiving, by the UAV, a flight plan configured to direct the UAV to fly a flight path having a plurality of waypoints adjacent to and above a structure and to capture sensor data of the structure from a camera on the UAV while the UAV is flying the flight path; adjusting an angle of an optical axis of the camera mounted to a gimbal to a predetermined angle within a range of 25 degrees to 75 degrees relative to a downward direction, and capturing sensor data of at least a portion of a roof of the structure with the optical axis of the camera aligned with at least one predetermined location on the structure.
    Type: Grant
    Filed: July 30, 2018
    Date of Patent: January 15, 2019
    Assignee: Pictometry International Corp.
    Inventors: Stephen L. Schultz, John Monaco
  • Patent number: 10168698
    Abstract: In one embodiment, an aerial collection system includes an image collection field vehicle that travels at street level and an image collection aerial vehicle that travels in the air above the street. The aerial vehicle collects image data including at least a portion of the field vehicle. The field vehicle includes a marker, which is identified from the collected image data. The marker is analyzed to determine an operating characteristic of the aerial vehicle. In one example, the operating characteristic in the marker includes information for a flight instruction for the aerial vehicle. In another example, the operating characteristic in the marker includes information for the three dimensional relationship between the vehicles. The three dimensional relationship is used to combine images collected from the air and images collected from the street level.
    Type: Grant
    Filed: September 26, 2017
    Date of Patent: January 1, 2019
    Assignee: HERE Global B.V.
    Inventor: Marco Tillmann
  • Patent number: 10168165
    Abstract: A system and method for driver guidance are presented. A position sensor is mounted to a vehicle. The position sensor is configured to identify a position of the vehicle and a heading of the vehicle. A device is configured to generate a plurality of outputs. A controller is connected to the position sensor and the display device. The controller is configured to access, via a wireless communications network, a database to identify a target loading location for the vehicle, determine a location and a heading of the target loading location for the vehicle, and modify at least one of the plurality of outputs of the display device based upon at least one of the location and the heading of the target loading location.
    Type: Grant
    Filed: October 18, 2017
    Date of Patent: January 1, 2019
    Assignee: Modular Mining Systems, Inc.
    Inventors: Michael W. Lewis, Lucas Van Latum, Andree Röttig, William Casson
  • Patent number: 10151598
    Abstract: As a function of a provided geoposition for the vehicle, a first position of the vehicle is determined in a first map, which represents a first geographic region. As a function of the determined first position of the vehicle in the first map, a map segment of a second map is determined. The second map has several map segments, which each represent predefined segments of a predefined second geographical region, and wherein directly adjoining segments overlap one another in a predefined manner. As a function of detection data of at least one predefined environment sensor of the vehicle and as a function of second map data of the determined map segment, a second position of the vehicle is determined in the map segment.
    Type: Grant
    Filed: September 20, 2016
    Date of Patent: December 11, 2018
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventor: Reinhard Jurk
  • Patent number: 10144465
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: June 13, 2018
    Date of Patent: December 4, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10140676
    Abstract: An advance indication part performs an advance indication of operation of a robot by using a movable part in correspondence to an operation program or a command supplied to the robot. When the advance indication part performs the advance indication, a user detection part detects a user in a predetermined area of movement of the movable part based on a picture image taken by a camera. When the user detection part detects the user, a recognition check part checks whether the detected user has recognized the advance indication of the advance indication part. When the recognition check part determines that the detected user has not recognized the advance indication yet, a recognition promotion part promotes the detected user to recognize the advance indication or an operation of the robot.
    Type: Grant
    Filed: November 16, 2016
    Date of Patent: November 27, 2018
    Assignees: SOKEN, INC., DENSO CORPORATION
    Inventors: Rina Hayashi, Toshiki Isogai
  • Patent number: 10133273
    Abstract: Systems and methods to provide location specific assistance are presented. A condition at a geographic location may be identified that is sensed in an environment of a vehicle and that a first autonomous vehicle control system is unable to, without location specific assistance, perceive, interpret and/or react to if navigating an area. A course at the geographic location that was previously determined by a second autonomous vehicle control system and/or followed by a person-driven vehicle when the condition was present at the geographic location may be found. The vehicle may be caused to follow the course previously determined by a second autonomous vehicle control system and/or followed by the person-driven vehicle.
    Type: Grant
    Filed: September 20, 2016
    Date of Patent: November 20, 2018
    Assignee: 2236008 Ontario Inc.
    Inventor: Scott Lee Linke
  • Patent number: 10108200
    Abstract: In an autonomous traveling apparatus, a normal traveling area and a deceleration area are set for a monitoring area in an area setting unit. A speed control unit limits a traveling speed of an apparatus main body on the basis of the monitoring area set in the area setting unit and a distance from the apparatus main body to an obstacle within the monitoring area if the obstacle present within the monitoring area is detected. If the obstacle is a movable body, an area change unit changes the deceleration area within the monitoring area that is set in the area setting unit to a deceleration area for movable body. This configuration makes it possible to support even a case where an obstacle is a movable body, in limiting the traveling speed in response to obstacle detection.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: October 23, 2018
    Assignee: Sharp Kabushiki Kaisha
    Inventor: Atsushi Etoh
  • Patent number: 10095227
    Abstract: An automatic driving system includes an actuator and an electronic control unit. The electronic control unit is configured to recognize a position, a surrounding environment, a state of the vehicle. The electronic control unit is configured to generate a first traveling plan based on the recognized position, the recognized surrounding environment, and the recognized state of the vehicle and calculate reliability of the first traveling plan. The electronic control unit is configured to generate a second traveling plan of the vehicle based on one or two of the recognized position, the recognized surrounding environment, and the recognized state of the vehicle and calculate reliability of the second traveling plan. The electronic control unit is configured to select a traveling plan having the higher reliability out of the first traveling plan and the second traveling plan, and control the traveling of the vehicle by the actuator.
    Type: Grant
    Filed: March 7, 2017
    Date of Patent: October 9, 2018
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Kentaro Ichikawa, Toshiki Kindo, Sho Otaki, Yasuo Sakaguchi, Bunyo Okumura
  • Patent number: 10095236
    Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
    Type: Grant
    Filed: November 30, 2017
    Date of Patent: October 9, 2018
    Assignee: Waymo LLC
    Inventors: David Franklin Ferguson, Wan-Yen Lo, Nathaniel Fairfield
  • Patent number: 10077045
    Abstract: A parking assist system includes an electronic control unit configured to: estimate first extending directions of obstacles respectively located on right and left sides of a target parking space in a state where a host vehicle moves across in front of the target parking space; calculate a planned moving path based on the estimated first extending directions; as the host vehicle is guided into the target parking space, estimate second extending directions of the obstacles respectively located on the right and left sides of the target parking space while updating the second extending directions; determine whether the estimated and updated second extending directions satisfy a predetermined condition; and when the updated second extending directions satisfy the predetermined condition, update the planned moving path by using the updated second extending directions instead of the first extending directions or the second extending directions before being updated.
    Type: Grant
    Filed: July 26, 2016
    Date of Patent: September 18, 2018
    Assignees: AISIN SEIKI KABUSHIKI KAISHA, DENSO CORPORATION
    Inventors: Yusuke Kiyokawa, Masaya Kato, Masaki Kinoshita, Takayuki Hiromitsu
  • Patent number: 10071856
    Abstract: An example system includes a robotic device deployed in a warehouse environment including a plurality of inventory items. The system also includes a camera coupled to the robotic device, configured to capture image data. The system also includes a computing system configured to receive the captured image data. The computing system is configured to, based on the received image data, generate a navigation instruction for navigation of the robotic device. The computing system is also configured to analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more inventory items. The computing system is further configured to, for each detected visual identifier, (i) determine a warehouse location of the corresponding inventory item, (ii) compare the determined warehouse location to an expected location, and (iii) initiate an action based on the comparison.
    Type: Grant
    Filed: July 28, 2016
    Date of Patent: September 11, 2018
    Assignee: X Development LLC
    Inventors: Christopher Hance, Daniel Shaffer
  • Patent number: 10073458
    Abstract: A path determining apparatus for an autonomous driving vehicle includes a path generator periodically generating a plurality of autonomous driving paths, an adaptive likelihood field (ALF) detector detecting an ALF on a road based on road information and obstacle information, a weight setter applying the ALF detected by the ALF detector to each of the autonomous driving paths generated by the path generator to set a weight with respect to each of the autonomous driving paths, and a path determiner determining a final autonomous driving path based on the weight set with respect to each of the autonomous driving paths by the weight setter.
    Type: Grant
    Filed: March 17, 2017
    Date of Patent: September 11, 2018
    Assignee: HYUNDAI MOTOR COMPANY
    Inventor: Jun Soo Kim
  • Patent number: 10051178
    Abstract: An imaging method for capturing images using a sensor mounted on an unmanned aircraft comprises: acquiring a range of motion of the sensor relative to the aircraft; acquiring a specification of a linear path along the ground; acquiring parameter values relating to aircraft maneuverability; using the acquired information determining a procedure; performing, by the aircraft, the procedure and simultaneously capturing, by the sensor, a set of images. The procedure comprises the aircraft moving with respect to the path and the sensor moving with respect to the aircraft such that at some time each point along the path is coincident with a footprint of the sensor. Also, each point along the path is present within at least one of the captured images.
    Type: Grant
    Filed: December 4, 2014
    Date of Patent: August 14, 2018
    Assignee: BAE Systems plc
    Inventor: Andrew Christopher Tebay
  • Patent number: 10044093
    Abstract: An antenna orientation adjustment device (200) include a camera (210), nut runners (220 and 230), and a motion controller (400). The nut runners (220 and 230) can be mounted on an azimuth adjustment bolt (160) and an elevation adjustment bolt (180), respectively. The nut runners (220 and 230) change the orientation of an antenna unit by applying motor power to the azimuth adjustment bolt (160) and the elevation adjustment bolt (180). The motion controller (400) calculates an angle position of the antenna unit (110) where a reception strength is maximum based on an image taken by the camera (210) and a reception strength of radio waves received by the antenna unit (110), and then adjusts the antenna unit (110) to the angle position where the reception strength is maximum by supplying a drive signal to the azimuth adjustment bolt (160) and the elevation adjustment bolt (180).
    Type: Grant
    Filed: January 8, 2015
    Date of Patent: August 7, 2018
    Assignee: NEC Corporation
    Inventor: Masashi Hirabe
  • Patent number: 10037031
    Abstract: Upper and lower limits of one or more parameters are established for each of a plurality of states of operation of a vehicle. One of the plurality of states for operating the vehicle is identified based at least in part on the parameters, data describing a human operator, and data describing an environment around the vehicle. A vehicle subsystem is actuated according to an operation mode corresponding to the current operating state.
    Type: Grant
    Filed: February 5, 2016
    Date of Patent: July 31, 2018
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Scott J. Lauffer, John P. Joyce
  • Patent number: 10037464
    Abstract: Methods and systems are disclosed including a computer storage medium, comprising instructions that when executed by one or more processors included in an Unmanned Aerial Vehicle (UAV), cause the UAV to perform operations, comprising: receiving, by the UAV, a flight plan configured to direct the UAV to fly a flight path having a plurality of waypoints adjacent to and above a structure and to capture sensor data of the structure from a camera on the UAV while the UAV is flying the flight path; adjusting an angle of an optical axis of the camera mounted to a gimbal to a predetermined angle within a range of 25 degrees to 75 degrees relative to a downward direction, and capturing sensor data of at least a portion of a roof of the structure with the optical axis of the camera aligned with at least one predetermined location on the structure.
    Type: Grant
    Filed: November 3, 2017
    Date of Patent: July 31, 2018
    Assignee: Pictometry International Corp.
    Inventors: Stephen L. Schultz, John Monaco
  • Patent number: 10032323
    Abstract: The aspects of the present disclosure provide an assembly for acquiring operational data from a machine including a power generating device and a rotating component interconnected with the power generating device for transmitting power from the power generating device. The assembly may include a sensor assembly having a-sensor being interconnected to the rotating component for sensing operational data of the machine and a microprocessor communicatively connected to the sensor for receiving and interpreting the operational data sensed by the sensor.
    Type: Grant
    Filed: August 13, 2015
    Date of Patent: July 24, 2018
    Inventor: Douglas M. Baker
  • Patent number: 10028104
    Abstract: A system and method (10) are shown for providing a guided emergency exit to personnel (12) within a building (14), and includes the steps of: automatically determining the location of each of a plurality of wireless communication devices (22) within a building in response to an emergency, each of the communication devices being assigned to a person (12); determining an escape route (28) from the building for each of the communication devices based on the location of the communication device (22) and the available paths (20) from that location to a safe exit (29); and wirelessly transmitting a sequential series of images to each of the communication devices to guide the person assigned to the device from checkpoint (18) to checkpoint along the escape route (28) until the person (12) safely exits.
    Type: Grant
    Filed: March 8, 2012
    Date of Patent: July 17, 2018
    Assignee: Honeywell International Inc.
    Inventors: Rajesh Chandra Potineni, Joe Ben Alphonse, Bineesh Av
  • Patent number: 10001777
    Abstract: An information presenting apparatus includes a system confidence level calculator configured to calculate a system confidence level of autonomous driving control, an information presenter configured to present, to a driver, information on allowableness of an action other than driving, and an information presentation controller configured to control switching of a content of the information presented on the information presenter according to the system confidence level calculated by the system confidence level calculator.
    Type: Grant
    Filed: April 25, 2014
    Date of Patent: June 19, 2018
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Akihiko Ebina
  • Patent number: 9989963
    Abstract: Signals are from a plurality of sources representing aspects of the vehicle and an environment surrounding the vehicle. An autonomous confidence factor is developed based on component confidence levels for at least one of the signals. Control of the vehicle is transitioned between levels of autonomous control based at least in part on the autonomous confidence factor.
    Type: Grant
    Filed: March 17, 2016
    Date of Patent: June 5, 2018
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: William Paul Perkins, David B. Kelley, Kenneth James Miller
  • Patent number: 9969086
    Abstract: Based on input steering commands, a legged robot may select a target gait. Based on the target gait, the legged robot may obtain a list of gait controllers. Each gait controller may define a gait of the legged robot, and include validity tests and steering commands. The legged robot may apply a cost function to the gait controllers, where the cost for a gait controller is based on a difference between the steering commands of the gait controller and the input steering commands, and a proximity of the legged robot to obstacles should the legged robot operate according the gait controller. The legged robot may reorder the list in increasing magnitude of the cost function, and traverse the list until a validity test associated with a particular gait controller passes. The legged robot may actuate its legs according to the steering commands of the particular gait controller.
    Type: Grant
    Filed: September 25, 2017
    Date of Patent: May 15, 2018
    Assignee: Boston Dynamics, Inc.
    Inventor: Eric Whitman
  • Patent number: 9940625
    Abstract: Methods, devices and apparatuses pertaining to identifying the candidate road segments for autonomous operations are described. A method may involve obtaining data of a first plurality of road segments that are permitted for one or more autonomous operations. The method may further include generating a road segment template based on the data of the first plurality of road segments, and reconstructing a second plurality of road segments based on the road segment template to obtain a plurality of reconstructed road segments.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: April 10, 2018
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Daniel Levine, Jinesh J Jain
  • Patent number: 9933784
    Abstract: An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.
    Type: Grant
    Filed: December 7, 2016
    Date of Patent: April 3, 2018
    Assignee: Waymo LLC
    Inventors: Joshua Seth Herbach, Nathaniel Fairfield
  • Patent number: 9915949
    Abstract: Self-driving vehicles have unlimited potential to learn and predict human behavior and perform actions accordingly. Several embodiments described herein enable a self-driving vehicle to monitor human activity and predict when and where the human will be located and whether the human needs a ride from the self-driving vehicle. Self-driving vehicles will be able to perform such tasks with incredible efficacy and accuracy that will allow self-driving vehicles to proliferate at a much faster rate than would otherwise be the case.
    Type: Grant
    Filed: May 8, 2017
    Date of Patent: March 13, 2018
    Inventors: Wesley Edward Schwie, Eric John Wengreen
  • Patent number: 9915951
    Abstract: An autonomous vehicle can encounter an external environment in which an object overhangs a current road of the autonomous vehicle. For example, the branch of a tree may overhang the road. Such an overhanging object can be detected and suitable driving maneuvers for the autonomous vehicle can be determined. Sensor data can be acquired from at least a forward portion of the external environment. One or more floating obstacle candidates can be identified based on the acquired sensor data. The identified one or more floating obstacle candidates can be filtered to remove any floating obstacle candidates that do not meet one or more predefined parameters. A driving maneuver for the autonomous vehicle can be determined at least partially based on a height clearance between the autonomous vehicle and floating obstacle candidates that remain after being filtered out. The autonomous vehicle can be caused to implement the determined driving maneuver.
    Type: Grant
    Filed: December 27, 2015
    Date of Patent: March 13, 2018
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventors: Xue Mei, Katsuhiro Sakai, Nobuhide Kamata
  • Patent number: 9870683
    Abstract: The luggage notification system is a security and tracking system that is adapted for use with a piece of luggage. Specifically, the luggage notification system: 1) monitors when the piece of luggage is accessed for security or other reasons, records the event and transmits a message announcing the event; and, 2) tracks the position of the piece of luggage. Optionally, the luggage notification system can further comprise a load cell to monitor the weight of the piece of luggage and a drive system that drives a plurality of rollers associated with the piece of luggage. The luggage notification system comprises a piece of luggage, a security system, a drive system, a weight system, and a control system.
    Type: Grant
    Filed: April 19, 2016
    Date of Patent: January 16, 2018
    Inventor: Jerome Pious
  • Patent number: 9864378
    Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
    Type: Grant
    Filed: May 12, 2017
    Date of Patent: January 9, 2018
    Assignee: Waymo LLC
    Inventors: David Ian Franklin Ferguson, Wan-Yen Lo, Nathaniel Fairfield
  • Patent number: 9845164
    Abstract: This disclosure is related to an industrial plant monitoring system configured to monitor equipment an industrial plant. The industrial plant monitoring system includes one or more processors, an autonomous vehicle including at least one sensor, a plant information management system including a navigation module, a communication module, and an analysis module. The navigation module is configured to retrieve a trajectory from a trajectory database. The sensors present on the autonomous vehicle are configured to collect sensor data related to the equipment. The communication module is configured to receive the sensor data from sensors and transmit the sensor data to a plant information management system. The analysis module is configured to receive the sensor data from the communication module, the analysis module being configured to detect an event related to the industrial plant based on the sensor data and historic sensor data.
    Type: Grant
    Filed: January 11, 2016
    Date of Patent: December 19, 2017
    Assignee: Yokogawa Electric Corporation
    Inventors: Syed Nabil Ahmed, Harsha Rahul Boggaram Krishna Prasad, Periaswamy Subramanian, Alaguraja Pandian, Nivashkumar Ramachandran
  • Patent number: 9839174
    Abstract: A work vehicle cooperation system includes: a master traveling track calculation unit that calculates a traveling track of a master work vehicle (1P) based on a detection position at which the master work vehicle (1P) was detected; a slave traveling target calculation unit that calculates a target traveling position of the slave work vehicle (1C) based on the traveling track of the master work vehicle (1P); a master parameter generation unit that generates a master work/driving parameter relating to work/driving executed by the master work vehicle (1P), the master work/driving parameter being linked with the detection position; a slave parameter generation unit that generates a slave work/driving parameter for the slave work vehicle (1C) based on the master work/driving parameter, the slave work/driving parameter being linked with the target traveling position for the slave work vehicle (1C); and a navigation control unit that navigates the slave work vehicle in an unmanned manner based on a detection positio
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: December 12, 2017
    Assignee: Kubota Corporation
    Inventors: Yoshitomo Fujimoto, Hiroyuki Araki, Yasuhisa Uoya
  • Patent number: 9821801
    Abstract: A method for controlling a semi-autonomous vehicle modifies a current path for the vehicle desired by a driver of the vehicle. The current path starts at a current position of the vehicle and ends in a target position of the vehicle and the method modifies the current path while preserving the current position and the target position of the vehicle in the modified path. The method overrides the actions of the driver to control a movement of the vehicle according to the modified path.
    Type: Grant
    Filed: June 29, 2015
    Date of Patent: November 21, 2017
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Stefano Di Cairano, Xiaodong Lan
  • Patent number: 9809956
    Abstract: A coordinated multi-vehicle grade control system and method includes receiving, by a first controller onboard a first work vehicle, a first grade control signal. The method and system also include receiving, by a second controller onboard a second work vehicle, a second grade control signal. Additionally, the method and system include orienting, by a first actuator of the first work vehicle, the first grading implement with respect to the first work vehicle according to the first grade control signal. Furthermore, the method and system include orienting, by a second actuator of the second work vehicle, the second grading implement with respect to the second work vehicle according to the second grade control signal. The second grade control signal is based, at least in part, on the first grade control signal to coordinate the orientation of the first grading implement with respect to the second grading implement along the grading pass.
    Type: Grant
    Filed: May 31, 2016
    Date of Patent: November 7, 2017
    Assignee: Deere & Company
    Inventor: Lance R. Sherlock
  • Patent number: 9804598
    Abstract: According to an autonomous mobile body of the present invention, a self-position recognizing section (42a) of a cleaning robot (1) includes a clustering section (42ab) for (i) grouping distance measurement points of each of a plurality of obstacles into clusters, the distance measurement points having been measured by use of a beam emitted from the sensor section (41) and (ii) recognizing the each of the plurality of obstacles.
    Type: Grant
    Filed: June 17, 2014
    Date of Patent: October 31, 2017
    Assignee: SHARP KABUSHIKI KAISHA
    Inventor: Shoki Yoshino
  • Patent number: 9789607
    Abstract: Based on input steering commands, a legged robot may select a target gait. Based on the target gait, the legged robot may obtain a list of gait controllers. Each gait controller may define a gait of the legged robot, and include validity tests and steering commands. The legged robot may apply a cost function to the gait controllers, where the cost for a gait controller is based on a difference between the steering commands of the gait controller and the input steering commands, and a proximity of the legged robot to obstacles should the legged robot operate according the gait controller. The legged robot may reorder the list in increasing magnitude of the cost function, and traverse the list until a validity test associated with a particular gait controller passes. The legged robot may actuate its legs according to the steering commands of the particular gait controller.
    Type: Grant
    Filed: November 3, 2015
    Date of Patent: October 17, 2017
    Assignee: Google Inc.
    Inventor: Eric Whitman
  • Patent number: 9769387
    Abstract: An action camera system for an unmanned aerial vehicle (UAV) selects a target based on a reference image captured by an onboard camera. Image processing determines a desired orientation of the target to the UAV, by which the UAV can track the target and provide streaming video images from the desired orientation. Image processing establishes a visual lock on the target and controls the UAV to maintain the desired orientation while capturing streaming images. Additional position data provided by sensors aboard a smartphone carried by the target enhances the tracking ability of the action camera system and enables predictive analysis of the target's future position. The action camera system may additionally provide preselected modes of operation that control UAV movement and image capture depending on the user's desired objectives.
    Type: Grant
    Filed: November 5, 2014
    Date of Patent: September 19, 2017
    Assignee: Trace Live Network Inc.
    Inventors: Paul Beard, Craig McDermott, Cameron Chell, Erika Racicot, Jamie Clarke, Bruce McDonald, Paul Readwin
  • Patent number: 9736644
    Abstract: A method comprising obtaining, by a system using a processor, a wireless fingerprint corresponding to a mobile communication device and a subject area in which the mobile communication device is or was positioned. The method also includes obtaining, by the system, an area wireless signal distribution map indicating wireless signal strength values corresponding to multiple wireless transmitters positioned in the subject area, and determining, by the system, based on the wireless fingerprint and the area wireless signal distribution map, a location of the mobile communication device.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: August 15, 2017
    Assignee: AT&T Mobility II LLC
    Inventors: Sheldon Kent Meredith, Jeremy Fix, Mario Kosseifi
  • Patent number: 9728089
    Abstract: A method is provided for limiting access to airspace by drones. The method includes receiving position information from a user associated with a property identified by the position information. The method also includes assembling the position information with other position information to compile a comprehensive configurable flight zone database. The method further includes pushing the configurable flight zone database to at least one drone. The drone accesses the configurable flight zone database to determine if movement is allowed, and the drone is programmed to not fly into areas identified in the configurable flight zone database. In the method, the drone may be further programmed to prohibit directing a camera into the areas identified in the configurable flight zone database.
    Type: Grant
    Filed: December 30, 2015
    Date of Patent: August 8, 2017
    Assignee: AirMap, Inc.
    Inventor: Benjamin Daniel Marcus
  • Patent number: 9718466
    Abstract: A driving path planning apparatus for an autonomous vehicle includes a driving information obtainer to obtain crossroad information, current velocity, and velocity setting of the vehicle. A global path planner plans a base frame, and an environment recognizer recognizes obstacle on a path and lane information of the vehicle. The apparatus also includes a velocity profile generator to generate a velocity profile for the vehicle, using current velocity and velocity setting, a candidate path planner to plan candidate paths for the vehicle, using velocity profile and base frame, and a path selector to check whether or not the candidate paths have collision risks and select one candidate path of the candidate paths as a driving path for the autonomous vehicle.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: August 1, 2017
    Assignee: Hyundai Motor Company
    Inventors: Hoi Won Kim, Su Jung Yoo, Min Yong Shin, Kyoung Jun Lee
  • Patent number: 9721468
    Abstract: A method for operating a navigation system for a motor vehicle with autopilot is disclosed, wherein the autopilot is designed to automatically carry out longitudinal and lateral guidance of the motor vehicle in the activated state during a piloted journey without assistance from a driver. The navigation system determines, for a destination prescribed by the user, a route to the destination on the basis of navigation data. The roads on which the activation of the autopilot is likely to be possible is determined using traffic data and on the basis of a predetermined activation condition for the autopilot.
    Type: Grant
    Filed: April 5, 2014
    Date of Patent: August 1, 2017
    Assignee: AUDI AG
    Inventors: Björn Giesler, Michael Reichel, Sebastian Klaas
  • Patent number: 9689686
    Abstract: Techniques for determining whether data associated with an autonomous navigation of an unmanned vehicle may be trusted. For example, navigation-related data may be provided from a source external to the unmanned vehicle. Image data associated with the autonomous navigation may be generated. The navigation-related data and the image data may be compared to determine whether the navigation data may be trusted or not. If untrusted, the autonomous navigation may be directed independently of the navigation data.
    Type: Grant
    Filed: September 25, 2015
    Date of Patent: June 27, 2017
    Assignee: Amazon Technologies, Inc.
    Inventors: Scott Gerard Carmack, Narasimha Rao Lakkakula, Nima Sharifi Mehr
  • Patent number: 9678507
    Abstract: An unmanned aerial vehicle (UAV) survey system and methods for surveying an area of interest are disclosed. The system can include a plurality of docking stations positioned at predetermined locations within the area of interest, each docking station comprising a platform to support a UAV while docked at the docking station; a battery charger; and a communications interface; a plurality of UAVs distributed among the plurality of docking stations, each UAV comprising a communications interface; and a system controller comprising a processor and transmitter communicatively coupled to the plurality of UAVs.
    Type: Grant
    Filed: June 25, 2015
    Date of Patent: June 13, 2017
    Assignee: LATITUDE ENGINEERING, LLC
    Inventors: Jason Douglas, Travis Alexander Woodrow, Manu Singh, Michael Aeko Balthazar
  • Patent number: 9679206
    Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: June 13, 2017
    Assignee: Waymo LLC
    Inventors: David Ian Franklin Ferguson, Wan-Yen Lo, Nathaniel Fairfield
  • Patent number: 9678199
    Abstract: Remote sensing systems and methods for using the same are disclosed. The remote sensing systems may include mirrors coupled to propulsion portions of a vehicle with which the remote sensing systems are integrated. The remote sensing systems may further include light transmitters and light receivers coupled to fixed portions of the vehicle.
    Type: Grant
    Filed: January 30, 2015
    Date of Patent: June 13, 2017
    Assignee: QUALCOMM Incorporated
    Inventor: Donald Bolden Hutson
  • Patent number: 9598106
    Abstract: When a host vehicle moves forward, a drawing arithmetic unit and a display of an ECU which display the image of the surroundings of the host vehicle display a trajectory when the host vehicle moves forward from the current position at the current steering angle and trajectories when the host vehicle is reversed from the current position at a steering angle different from the current steering angle so as to be superimposed on a bird's-eye image.
    Type: Grant
    Filed: August 12, 2011
    Date of Patent: March 21, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yuka Sobue, Ryuji Okamura, Chika Morimoto, Yu Hiei
  • Patent number: 9563199
    Abstract: Disclosed herein are systems and methods for providing supplemental identification abilities to an autonomous vehicle system. The sensor unit of the vehicle may be configured to receive data indicating an environment of the vehicle, while the control system may be configured to operate the vehicle. The vehicle may also include a processing unit configured to analyze the data indicating the environment to determine at least one object having a detection confidence below a threshold. Based on the at least one object having a detection confidence below a threshold, the processor may communicate at least a subset of the data indicating the environment for further processing. The vehicle is also configured to receive an indication of an object confirmation of the subset of the data. Based on the object confirmation of the subset of the data, the processor may alter the control of the vehicle by the control system.
    Type: Grant
    Filed: April 16, 2014
    Date of Patent: February 7, 2017
    Assignee: Google Inc.
    Inventors: David Ian Franklin Ferguson, Wan-Yen Lo, Nathaniel Fairfield
  • Patent number: 9550496
    Abstract: A travel control apparatus is configured to perform an overtaking travel on a host vehicle with a vehicle travelling ahead as an overtaking target vehicle during an autonomous driving of the host vehicle. In a case where the overtaking travel starts, the apparatus determines whether or not the overtaking target vehicle accelerates during the overtaking travel. In a case where it is determined that the overtaking target vehicle accelerates, the apparatus determines whether or not a front vehicle is present in front of the overtaking target vehicle. In a case where it is determined that the front vehicle is not present, the apparatus stops the overtaking travel of the host vehicle, and in a case where it is determined that the front vehicle is present, the apparatus continues the overtaking travel of the host vehicle under a predetermined condition.
    Type: Grant
    Filed: April 18, 2016
    Date of Patent: January 24, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Ikuma Suzuki, Masaki Matsunaga, Tetsuya Taira
  • Patent number: 9513632
    Abstract: A computer-implemented method, system, and/or computer program product alerts a proximate entity of a current real-time driving mode of a vehicle. One or more processors determine a current real-time driving mode of a vehicle. The current real-time driving mode is either an autonomous mode or a manual mode. The vehicle is in the autonomous mode when being driven and controlled by an on-board computer, and the vehicle is in the manual mode when being driven and controlled by a human driver. The processor(s) generate a driving mode indicator that identifies the current real-time driving mode of the vehicle. An indicator emitter then broadcasts the driving mode indicator from the vehicle to the proximate entity, such that the driving mode indicator indicates the current real-time driving mode of the vehicle.
    Type: Grant
    Filed: September 16, 2015
    Date of Patent: December 6, 2016
    Assignee: International Business Machines Corporation
    Inventors: Michael S. Gordon, James R. Kozloski, Ashish Kundu, Peter K. Malkin, Clifford A. Pickover