Having Image Processing Patents (Class 701/28)
  • Patent number: 11453393
    Abstract: A control system for a vehicle includes a control that determines a planned path of travel for the vehicle along a road being traveled by the vehicle and along a traffic lane in which the vehicle is traveling on the road. The control determines a speed profile for the vehicle along the planned path responsive at least in part to (i) detection of an object along the determined planned path of travel and (ii) determination of a speed limit change along the determined planned path of travel. The control controls the vehicle to maneuver the vehicle along the determined planned path of travel in accordance with the determined speed profile.
    Type: Grant
    Filed: October 8, 2018
    Date of Patent: September 27, 2022
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Richard Wienecke, Wenxue Gao, Achim Gieseke
  • Patent number: 11447127
    Abstract: Aspects of the present disclosure may include methods, apparatuses, and computer readable media for receiving one or more images having a plurality of objects, receiving a notification from an occupant of the self-driving vehicle, generating an attention map highlighting the plurality of objects based on at least one of the one or more images and the notification, and providing at least one of a steering control or a velocity control to operate the self-driving vehicle based on the attention map and the notification.
    Type: Grant
    Filed: June 10, 2019
    Date of Patent: September 20, 2022
    Assignees: HONDA MOTOR CO., LTD., THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Ashish Tawari, Yi-Ting Chen, Teruhisa Misu, John F. Canny, Jinkyu Kim
  • Patent number: 11449056
    Abstract: In general, an indication is received through a user interface of an intention of a potential rider to use an autonomous vehicle. In response to the receipt of the indication, a hailing request is sent by a signaling mode to at least one autonomous vehicle that can receive the hailing request directly in accordance with the signaling mode.
    Type: Grant
    Filed: December 1, 2020
    Date of Patent: September 20, 2022
    Assignee: Motional AD LLC
    Inventors: Karl Iagnemma, Philipp Robbel
  • Patent number: 11443451
    Abstract: A vehicular positioning system utilizing multiple optical cameras having contiguous fields of view for reading coded markers having pre-determined positions for determining the position of vehicle inside a structure with a high degree of accuracy. The vehicle positioning system provides for the direct installation and use of a positioning apparatus on a vehicle with a limited number of coded markers to determine the vehicle's position to within millimeter level accuracy.
    Type: Grant
    Filed: May 21, 2020
    Date of Patent: September 13, 2022
    Assignee: Topcon Positioning Systems, Inc.
    Inventors: Dmitry Vitalievich Tatarnikov, Leonid Valerianovich Edelman, Aleksandr Aleksandrovich Pimenov, Michail Nikolaevich Smirnov, Nikolay Aleksandrovich Penkrat
  • Patent number: 11435748
    Abstract: A system and method for real world autonomous vehicle trajectory simulation may include: receiving training data from a data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation. Vicinal scenarios may correspond to different locations, traffic patterns, or environmental conditions being simulated. Vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions.
    Type: Grant
    Filed: July 15, 2020
    Date of Patent: September 6, 2022
    Assignee: TUSIMPLE, INC.
    Inventors: Xing Sun, Wutu Lin, Liu Liu, Kai-Chieh Ma, Zijie Xuan, Yufei Zhao
  • Patent number: 11435746
    Abstract: Provided is a robot, including: a chassis; a set of wheels coupled to the chassis; a processor; and a tangible, non-transitory, machine-readable medium storing instructions that when executed by the processor effectuate operations including: capturing, by an image sensor disposed on a robot, images of a workspace; obtaining, by the processor of the robot or via the cloud, the captured images; comparing, by the processor of the robot or via the cloud, at least one object from the captured images to objects in an object dictionary; identifying, by the processor of the robot or via the cloud, a class to which the at least one object belongs using an object classification unit; and instructing, by the processor of the robot, the robot to execute at least one action based on the object class identified.
    Type: Grant
    Filed: January 17, 2022
    Date of Patent: September 6, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 11433942
    Abstract: A motor vehicle power steering mechanism with an electric motor for steering assist and/or steering, and a steering controller, which controls the electric motor with a position control mode for autonomous driving and/or automatic steering and a torque control mode for manual steering by a driver. The steering controller includes a steering column reference controller, an arbitration unit, a column torque controller, a steering algorithm, and the steering system. The steering column reference controller calculates for position control based on a reference position and a measured position, and a first reference steering column torque. A steering algorithm calculates for torque control based on a measured column torque and a second reference steering column torque. The arbitration unit weights and adds the first and second reference steering column torques, and the output of the arbitration unit is input to the column torque controller.
    Type: Grant
    Filed: February 22, 2017
    Date of Patent: September 6, 2022
    Assignees: THYSSENKRUPP PRESTA AG, THYSSENKRUPP AG
    Inventors: Csaba Fazekas, Ádám Varga, Imre Benyó
  • Patent number: 11436840
    Abstract: A vehicular control system includes a camera sensor, a radar sensor and a control having a processor that processes image data captured by the camera sensor and radar data captured by the radar sensor to detect another vehicle and to determine an estimated time to arrival of the other vehicle at a location on a road being travelled along by the other vehicle that is in the projected path of travel of the equipped vehicle. Responsive at least in part to (i) determination that the equipped vehicle will arrive at the location before the estimated time to arrival of the other vehicle at the location elapses, and (ii) determination that an object is not present in the projected path of travel of the equipped vehicle, the control determines that it is safe for the equipped vehicle to proceed along the projected path of travel.
    Type: Grant
    Filed: October 12, 2020
    Date of Patent: September 6, 2022
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Rohan J. Divekar, Paul A. VanOphem
  • Patent number: 11433920
    Abstract: Methods and systems for controlling a vehicle. The system includes a localization system, a memory storing a digital map, and an electronic processor. The electronic processor is configured to receive, from the localization system, a current location of the vehicle and determine a future driving segment of the vehicle based on the current location of the vehicle. The electronic processor is further configured to determine at least one performance limitation based on the future driving segment of the vehicle and modify a driving behavior of the vehicle based upon the determined at least one performance limitation.
    Type: Grant
    Filed: May 29, 2020
    Date of Patent: September 6, 2022
    Assignee: Robert Bosch GmbH
    Inventor: Andreas Heyl
  • Patent number: 11425857
    Abstract: A work machine having an autonomous travel function may include: a cutting section that cuts a work target of the work machine; an image-capturing section that captures an image of the work target cut by the cutting section; and a judging section that judges a state of the cutting section based on the image captured by the image-capturing section. The judging section may judge whether maintenance of or a check on the cutting section is necessary or not based on a result of judgment about the state of the cutting section.
    Type: Grant
    Filed: June 28, 2019
    Date of Patent: August 30, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Satoshi Haneda, Takamasa Udagawa, Makoto Yamamura, Masato Fujiwara, Ryuichi Kimata, Satoshi Onodera, Yutaka Tsuji, Hiroyuki Isegawa
  • Patent number: 11427219
    Abstract: A method for controlling vehicle system of a vehicle is disclosed. The method comprises determining an expected path of the vehicle, determining a vehicle trajectory for the determined expected path, and determining at least one required control parameter value of a driver assistance system based on the determined vehicle trajectory. Further, the method comprises comparing the at least one required control parameter value to a predefined threshold scheme associated with the driver assistance system, and sending a signal to a Human Machine Interface, HMI, of the vehicle based on the comparison. Then, the method comprises receiving a feedback signal originating from a user of the vehicle, and controlling the driver assistance system based on the comparison and the received feedback signal.
    Type: Grant
    Filed: April 24, 2020
    Date of Patent: August 30, 2022
    Assignee: Zenuity AB
    Inventors: Claes Olsson, Per Lofter
  • Patent number: 11427196
    Abstract: Systems and methods for causing a vehicle to avoid an adverse action are described. In one aspect, a sensor on first vehicle may determine the existence and location of lane markers or objects, and use that information to cause a second vehicle to avoid exiting its lane or colliding with an object. Data transmitted from a first vehicle to a second vehicle may be used to determine a path for the second vehicle, such that it avoids an adverse action. This data may include information used to determine a pose of the second vehicle, kinematics of the second vehicle, determine dimensions of the second vehicle, and potential adverse actions. This data may be transmitted while the vehicles are platooning.
    Type: Grant
    Filed: April 15, 2019
    Date of Patent: August 30, 2022
    Assignee: Peloton Technology, Inc.
    Inventors: Joshua P Switkes, Shad M Laws, Lorenz Laubinger
  • Patent number: 11427254
    Abstract: Techniques and systems are described that enable evasive steering assist (ESA) with a pre-active phase. An ESA system predicts that a collision with an object is imminent and enters a pre-active phase. The pre-active phase causes a required drop in steering force to occur prior to determining that the collision is imminent. At a later time, the ESA system determines that the collision is imminent and enacts an active phase. The active phase causes a steering force effective to avoid the collision. By enacting the pre-active phase prior to the determination of the imminent collision, the ESA system may provide the additional steering force needed to avoid the collision without delay while simultaneously shielding a driver of vehicle from feeling the drop in steering force.
    Type: Grant
    Filed: December 18, 2020
    Date of Patent: August 30, 2022
    Assignee: Aptiv Technologies Limited
    Inventors: Walter K. Kosiak, Guoguang Zhang
  • Patent number: 11422561
    Abstract: The disclosure includes embodiments for a sensor system for multiple perspective sensor data sets. In some embodiments, a method executed by an ego vehicle includes receiving, from a set of remote vehicles, a set of sensor data describing a set of preliminary heatmaps for a roadway environment. The method includes reconciling discrepancies in the set of heatmaps and a preliminary heatmap of the ego vehicle to form a combined heatmap that describes the objects in the roadway environment as collectively observed by the onboard sensors of the set of remote vehicles and the ego vehicle. The method includes providing the combined heatmap to one or more of the remote vehicles included in the set of remote vehicles. The method includes modifying an operation of the ego vehicle based on the combined heatmap. For example, an operation of an autonomous driving system of the ego vehicle is modified.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: August 23, 2022
    Inventors: Bin Cheng, Gaurav Bansal, Ryan Matthew Yee, Ellick Ming Huen Chan, Carmine Senatore
  • Patent number: 11416002
    Abstract: An apparatus includes a video capture device and a processor. The video capture device may be mounted at a low position. The video capture device may be configured to generate a plurality of video frames that capture a field of view upward from the low position. The processor may be configured to perform video operations to generate dewarped frames from the video frames and detect objects in the dewarped frames, extract data about the objects based on characteristics of the objects determined using said video operations, perform path planning in response the extracted data and generate a video stream based on the dewarped frames. The video operations may generate the dewarped frames to correct a distortion effect caused by capturing the video frames from the low position. The path planning may be used to move the apparatus to a new location. The apparatus may be capable of autonomous movement.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: August 16, 2022
    Assignee: Ambarella International LP
    Inventor: Christopher N. Day
  • Patent number: 11409304
    Abstract: The described techniques relate to predicting object behavior based on top-down representations of an environment comprising top-down representations of image features in the environment. For example, a top-down representation may comprise a multi-channel image that includes semantic map information along with additional information for a target object and/or other objects in an environment. A top-down image feature representation may also be a multi-channel image that incorporates various tensors for different image features with channels of the multi-channel image, and may be generated directly from an input image. A prediction component can generate predictions of object behavior based at least in part on the top-down image feature representation, and in some cases, can generate predictions based on the top-down image feature representation together with the additional top-down representation.
    Type: Grant
    Filed: September 27, 2019
    Date of Patent: August 9, 2022
    Assignee: Zoox, Inc.
    Inventors: Tianyi Cai, James William Vaisey Philbin, Kai Zhenyu Wang
  • Patent number: 11410389
    Abstract: A point cloud display method includes determining, from a first point cloud, points describing a target object, where the first point cloud describes a surrounding area of a vehicle in which the in-vehicle system is located, and the target object is to be identified by the in-vehicle system, generating a second point cloud based on the points, and displaying the second point cloud.
    Type: Grant
    Filed: June 10, 2021
    Date of Patent: August 9, 2022
    Assignee: HUAWEI TECHNOLOGIES CO., LTD.
    Inventor: Zuding Shen
  • Patent number: 11402221
    Abstract: Some embodiments provide an autonomous navigation system which enables autonomous navigation of a vehicle along one or more portions of a driving route based on monitoring, at the vehicle, various features of the route as the vehicle is manually navigated along the route to develop a characterization of the route. The characterization is progressively updated with repeated manual navigations along the route, and autonomous navigation of the route is enabled when a confidence indicator of the characterization meets a threshold indication. Characterizations can be updated in response to the vehicle encountering changes in the route and can include a set of driving rules associated with the route, where the driving rules are developed based on monitoring the navigation of one or more vehicles of the route. Characterizations can be uploaded to a remote system which processes data to develop and refine route characterizations and provide characterizations to one or more vehicles.
    Type: Grant
    Filed: October 18, 2019
    Date of Patent: August 2, 2022
    Assignee: Apple Inc.
    Inventors: Ahmad Al-Dahle, Matthew E. Last, Philip J. Sieh, Benjamin Lyon
  • Patent number: 11390277
    Abstract: Systems and methods for self-driving collision prevention are presented. The system comprises a self-driving vehicle safety system, having one or more sensors in communication with a control system. The control system is configured determine safety fields and instruct the sensors to scan a region corresponding to the safety fields. The control system determines exclusion regions, and omits the exclusion regions from the safety field. The safety system may also include capability reduction parameters that can be used to constrain the drive system of the vehicle, for example, by restricting turning radius and speed in accordance with the safety fields.
    Type: Grant
    Filed: November 28, 2019
    Date of Patent: July 19, 2022
    Assignee: Clearpath Robotics Inc.
    Inventors: Matthew Lord, Ryan Christopher Gariepy, Peiyi Chen, Michael Irvine, Alex Bencz
  • Patent number: 11385643
    Abstract: An artificial intelligence (AI) moving agent is provided. The AI moving agent includes a traveling actuator configured to drive the artificial intelligence moving agent, at least one sensor configured to obtain data for determining an occupied region, and at least one processor configured to determine an occupied region of one or more objects based on the data, and obtain an adjustment zone by resetting a restricted zone set by a user based on the occupied region of the one or more objects.
    Type: Grant
    Filed: March 6, 2020
    Date of Patent: July 12, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Jichan Maeng, Taehyun Kim, Jonghoon Chae
  • Patent number: 11385338
    Abstract: In one aspect, a system for disregarding obscured sensor data during the performance of an agricultural operation may include a sensor provided in operative association with an agricultural machine. The sensor may, in turn, be configured to capture three-dimensional data associated with a portion of the field within a field of view of the sensor. A controller of the system may be configured to configured to generate an initial three-dimensional representation of the field based on data received from the sensor. Moreover, the controller may be configured to identify an obscured region within the generated initial three-dimensional representation of the field. Additionally, the controller may be configured to disregard a three-dimensional volume associated with the obscured region from the initial three-dimensional representation of the field to form a modified three-dimensional representation of the field.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: July 12, 2022
    Assignee: CNH Industrial America LLC
    Inventor: Trevor Stanhope
  • Patent number: 11373646
    Abstract: A household appliance control method, device and system, and an intelligent air conditioner are provided. The method includes that: a sound source location is determined by means of a camera; voice information of a user is picked up according to the sound source location; and at least one control operation is performed on a household appliance according to the voice information. The voice information matches at least one corresponding control instruction. By means of the method, a location of at least one user can be detected according to the camera, thereby enhancing at least one pickup audio signal at the location of the at least one user.
    Type: Grant
    Filed: February 14, 2017
    Date of Patent: June 28, 2022
    Assignee: GREE ELECTRIC APPLIANCES, INC. OF ZHUHAI
    Inventors: Guangyou Liu, Wencheng Zheng, Yuehui Mao, Zi Wang, Yao Chen, Bo Liang
  • Patent number: 11364905
    Abstract: A method and control system for assessing a potential for collision between a body part of a vehicle and a roadway. The method includes predicting a trajectory path of the vehicle along the roadway, monitoring elevations of the roadway along the trajectory path, and analyzing, at a point along the trajectory path of the roadway, whether the body part of the vehicle will collide with the roadway based upon the estimated elevation of the body part on the vehicle at the point along the trajectory path and the estimated elevation of the roadway at the point along the trajectory path.
    Type: Grant
    Filed: May 16, 2019
    Date of Patent: June 21, 2022
    Inventors: Aryaman Sharda, Henry Chen
  • Patent number: 11367279
    Abstract: The present invention relates to a system for steering or guiding a sod harvesting machine (sod harvester) with a high degree of precision, without the need for the sod harvesting machine to have a guide stick or shoe in physical or mechanical contact with the sod to be harvested or to be in connection with remote navigation systems, such as GPS. The system includes a sensor mounted at the front of the harvester and a processor for processing information from the sensor to determine a boundary line and for steering the sod harvester along the boundary line.
    Type: Grant
    Filed: April 17, 2020
    Date of Patent: June 21, 2022
    Inventor: David R. Wilmot
  • Patent number: 11364906
    Abstract: The present invention provides a control system and a control method capable of appropriately supporting driving of a motorcycle by a rider. The control system includes a control amount setting unit that sets a control amount in auto cruise operation, an execution unit that causes the motorcycle to execute the auto cruise operation, and further including a lane position information acquiring unit that acquires relative position information of a lane boundary with respect to the motorcycle during traveling, and a limitation determining unit that determines to provide a limitation on the auto cruise operation in a case where a determination reference is satisfied, in which the determination reference includes a condition that the lane position information acquired by the lane position information acquiring unit satisfies a prescribed condition.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: June 21, 2022
    Assignee: Robert Bosch GmbH
    Inventor: Lars Pfau
  • Patent number: 11358606
    Abstract: A method for operating a motor vehicle incorporates polling regarding the control of the motor vehicle, leading to an improvement in the working conditions of a plurality of evaluation units accessing sensor units of the motor vehicle. Control commands for controlling the motor vehicle are determined from this polling by a conflict checking unit. The conflict checking unit determines the feasibility of the control commands, taking into consideration predetermined verification criteria with regard to conflicts between the individual control commands and the practicability of the individual control commands. The conflict checking unit also determines a control specification for a vehicle control unit based on the feasibilities and certain decision criteria. Finally, the motor vehicle is controlled by use of the vehicle control unit in accordance with the control specification.
    Type: Grant
    Filed: May 8, 2019
    Date of Patent: June 14, 2022
    Assignees: AUDI AG, VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventors: Christian Merfels, Bernd Rech, Daniel Wilbers, Thilo Schaper, Constanze Hungar, Niklas Koch, Florian Haubner, Simon Seitle
  • Patent number: 11350622
    Abstract: A method for plant treatment, including: receiving a first measurement for a plant from a sensor as the sensor moves within a geographic area comprising a plurality of plants; in response to receipt of the first measurement and prior to receipt of a second measurement for a second plant of the plurality, determining a set of treatment mechanism operation parameters for the plant to optimize a geographic area output parameter based on the first measurement and historical measurements for the geographic area; determining an initial treatment parameter for the plant; and operating a treatment mechanism in a treatment mode based on the set of operating parameters in response to satisfaction of the initial treatment parameter.
    Type: Grant
    Filed: October 8, 2021
    Date of Patent: June 7, 2022
    Assignee: BLUE RIVER TECHNOLOGY INC.
    Inventor: Lee Kamp Redden
  • Patent number: 11354912
    Abstract: Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.
    Type: Grant
    Filed: August 27, 2019
    Date of Patent: June 7, 2022
    Assignee: Waymo LLC
    Inventor: Jennifer Iglesias
  • Patent number: 11341670
    Abstract: An information processing device includes a processor. This processor: obtains at least one of first sensor data output from a first sensor and used to determine an ambient environment of a device in which a third sensor is placed, and second sensor data used to determine an orientation of this device; determines a tilt of a plane in a sensing direction of the third sensor with respect to the orientation of the device based on the at least one of the first sensor data and the second sensor data; determines, in accordance with the tilt determined, a processing target area of third sensor data output from the third sensor and used for object detection processing in the sensing direction of the third sensor; and executes the object detection processing using the processing target area determined, of the third sensor data.
    Type: Grant
    Filed: June 16, 2020
    Date of Patent: May 24, 2022
    Assignee: Panasonic Intellectual Property Corporation of America
    Inventors: Yohei Nakata, Ryota Fujimura, Takuya Yamaguchi, Yasunori Ishii
  • Patent number: 11340063
    Abstract: The present disclosure discloses an infrared-based road surface monitoring system and method, and an automobile, and relate to the technical field of automated driving of automobile. The infrared-based road surface monitoring system includes: an infrared spotlight assembly, a camera, and an image processor connected with the camera, wherein the infrared spotlight assembly is configured to emit alternate bright and dark infrared stripes, the camera is configured to capture a mode of real-time infrared stripes on a road surface, and the image processor is configured to calculate the form of the stripes on the road surface captured by the camera, so as to obtain road surface or obstacle information and calculate a condition of the road surface, which are fed back to an automatic driving system of an automobile in real time, finally achieving purpose of monitoring road surface and automatic driving.
    Type: Grant
    Filed: March 27, 2019
    Date of Patent: May 24, 2022
    Assignee: Hasco Vision Technology Co., Ltd.
    Inventors: Zhaoyu Chen, Xie Dai
  • Patent number: 11338802
    Abstract: The present invention provides a control system and a control method capable of appropriately supporting driving of a motorcycle by a rider. The control system includes an execution unit that causes the motorcycle to execute an automatic decelerating operation in a case where an obstacle is located in a predetermined range where a collision avoiding operation of the motorcycle is required, a lane position information acquiring unit that acquires relative position information of a lane boundary with respect to the motorcycle during traveling, and a detection angle range setting unit that set a detection angle range of a forward environment detecting device to be wide in a case where a determination reference is satisfied, in which the determination reference includes a condition that the lane position information acquired by the lane position information acquiring unit satisfies a prescribed condition.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: May 24, 2022
    Assignee: Robert Bosch GmbH
    Inventor: Lars Pfau
  • Patent number: 11332135
    Abstract: A driving support apparatus for supporting the driving of a vehicle includes: a boundary estimation part for outputting magnetic waves or ultrasonic waves to the periphery of a vehicle, and for estimating the boundary of a roadway based on reflected waves which are detected by a sensor for detecting the reflected waves; a detection part for detecting a mobile body based on the reflected waves which are detected by the sensor; and a region estimation part for estimating a progress region of the object vehicle which is moving in an adjacent lane when this detection part detects the mobile body generated by multiplexed reflections from an object vehicle which is actually moving in the adjacent lane.
    Type: Grant
    Filed: May 30, 2018
    Date of Patent: May 17, 2022
    Assignee: VEONEER SWEDEN AB
    Inventor: Ashish Manocha
  • Patent number: 11327502
    Abstract: A smart lawn mower comprises a traveling control module configured to control the traveling and steering of the mower, an image capturing module configured to capture the surrounding images of the mower, an operation module configured to provide a surrounding-determination information, and a storage module configured to store the surrounding-determination information. The operation module determines a grass area by analyzing the surrounding images captured by the image capturing module. The mower defines a grass area accurately without a predetermined boundary.
    Type: Grant
    Filed: June 14, 2019
    Date of Patent: May 10, 2022
    Assignee: LINGDONG TECHNOLOGY (BEIJING) CO. LTD
    Inventors: Ou Qi, Chiung-Lin Chen
  • Patent number: 11318987
    Abstract: A steering controller includes processing circuitry configured to execute a torque control process that calculates a steering-side operation amount, an angle feedback control process that calculates an angle-side operation amount, and an operation process that operates a drive circuit of an electric motor to adjust torque of the electric motor to a torque command value. The processing circuitry is further configured to execute a switch process that switches, when determining that a controllability of the electric motor is less than or equal to a predetermined efficiency, the torque command value from a value based on the angle-side operation amount to a value based on the steering-side operation amount instead of the angle-side operation amount.
    Type: Grant
    Filed: January 7, 2020
    Date of Patent: May 3, 2022
    Assignees: JTEKT CORPORATION, JTEKT EUROPE S.A.S.
    Inventors: Terutaka Tamaizumi, Tahar Slama, Pascal Moulaire, Pierre Larminy
  • Patent number: 11314990
    Abstract: The present invention relates to a method for acquiring an object information, the method comprising: obtaining an input image acquired by capturing a sea; obtaining a noise level of the input image; when the noise level indicates a noise lower than a predetermined level, acquiring an object information related to an obstacle included in the input image from the input image by using a first artificial neural network, and when the noise level indicates a noise higher than the predetermined level, obtaining a noise-reduced image of which the environmental noise is reduced from the input image by using a second artificial neural network, and acquiring an object information related to an obstacle included in the sea from the noise-reduced image by using the first artificial neural network.
    Type: Grant
    Filed: July 25, 2019
    Date of Patent: April 26, 2022
    Assignee: Seadronix Corp.
    Inventors: Byeol Teo Park, Han Keun Kim, Dong Hoon Kim
  • Patent number: 11314262
    Abstract: The described positional awareness techniques employing sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to find new area to cover by a robot encountering an unexpected obstacle traversing an area in which the robot is performing an area coverage task. The sensory data are gathered from an operational camera and one or more auxiliary sensors.
    Type: Grant
    Filed: February 21, 2020
    Date of Patent: April 26, 2022
    Assignee: Trifo, Inc.
    Inventors: Zhe Zhang, Weikai Li, Qingyu Chen, Yen-Cheng Liu
  • Patent number: 11312383
    Abstract: A road surface condition prediction system includes a collector which collects pieces of moisture information on moisture on a road surface obtained by detecting the moisture on the road surface of a road on which moving bodies travel, and pieces of position information each indicating a position on the road surface at which the moisture is detected, one or more of the pieces of moisture information and one or more of the pieces of position information being collected from each of the moving bodies; and a predictor which predicts a moisture condition of a target road surface at a time after a time at which moisture on the target road surface is detected, based on moisture information obtained by detecting the moisture on the target road surface, the target road surface being a road surface at a position indicated by at least one of the pieces of position information.
    Type: Grant
    Filed: September 8, 2017
    Date of Patent: April 26, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Koichi Kusukame, Tatsuo Itoh
  • Patent number: 11314257
    Abstract: A control apparatus for an automatic-driving vehicle includes a load state detecting unit and a collision preventing unit. The load state detecting unit detects a load state of the other vehicle that is present in a periphery of the automatic-driving vehicle. The collision preventing unit performs a collision prevention process based on the load state detected by the load state detecting unit. The collision prevention process is a process for preventing, in advance, collision of an automatic-driving vehicle with a load that may fall onto a road from the other vehicle.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: April 26, 2022
    Assignee: DENSO CORPORATION
    Inventors: Tomomi Hase, Noriaki Ikemoto, Mitsuharu Higashitani
  • Patent number: 11297992
    Abstract: A robot cleaner includes a controller configured to sense an obstacle with a sensing unit of the robot cleaner, and control a driving unit of the robot cleaner to move a main body of the robot cleaner forward into a first contact state in which a front end of a cleaning unit cleans a first region while in contact with the obstacle. After the first contact state, the controller controls the driving unit to move the main body according to a predetermined connecting operation into a second contact state in which the front end of the cleaning unit cleans a second region while in contact with the obstacle, the first region and the second region being arranged along an outline of the obstacle.
    Type: Grant
    Filed: February 8, 2019
    Date of Patent: April 12, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Gwanryong Baek, Woochan Jun
  • Patent number: 11294393
    Abstract: A materials handling vehicle comprising a path validation tool and a drive unit, steering unit, localization module, and navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse layout data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the vehicle physical periphery. The tool executes path validation logic to determine vehicle pose along the proposed travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to intersect obstacles represented in the layout data based on the determined vehicle pose at candidate positions along the proposed travel path, determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary and obstacle data, and modify the proposed travel path to mitigate the degree of potential impingement.
    Type: Grant
    Filed: August 12, 2020
    Date of Patent: April 5, 2022
    Assignee: Crown Equipment Corporation
    Inventor: Justin F. Thode
  • Patent number: 11288528
    Abstract: A method, apparatus, and system for determining a state of an upcoming traffic light is disclosed. At an autonomous driving vehicle (ADV), an upcoming traffic light ahead in a direction of travel is detected. A relative position of the ADV to the traffic light is determined based on a three-dimensional (3D) position of the traffic light and a position of the ADV. A first image whose content includes the traffic light is captured. A second image of the traffic light is obtained, which comprises cropping the first image and preserving only a first sub-region of the first image that corresponds to the traffic light. One or more third images of the traffic light are retrieved from a precompiled image library based on the relative position of the ADV to the traffic light. A state of the traffic light is determined based on the one or more third images.
    Type: Grant
    Filed: May 12, 2020
    Date of Patent: March 29, 2022
    Assignee: BAIDU USA LLC
    Inventor: Fan Zhu
  • Patent number: 11280625
    Abstract: The disclosure relates to using ambient lighting conditions with passenger and goods pickups and drop offs with autonomous vehicles. For instance, a map of ambient lighting conditions for stopping locations may be generated by receiving ambient lighting condition data for predetermined stopping locations and arranging this data into a plurality of buckets based on time and one of the stopping locations. A vehicle may then be controlled in an autonomous driving mode in order to stop for a passenger by both observing ambient lighting conditions for different stopping locations and, in some instances, also using the map.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: March 22, 2022
    Assignee: Waymo LLC
    Inventors: Salil Pandit, Nirmal Patel
  • Patent number: 11282299
    Abstract: The disclosure relates to a method for determining a driving instruction, whereby environmental data relevant to the surroundings of the motor vehicle is acquired by at least one detection device of a motor vehicle, after which, as a function of the environmental data, a driving instruction relevant to the driving operation of the motor vehicle is determined, which is specified by a gesture and/or a pose of a traffic controller mapped by the environmental data, wherein the determination of the driving instruction is carried out as a function of at least one set of training data, which was previously acquired by the detection device or a further detection device and which maps a further traffic controller and at least a traffic participant.
    Type: Grant
    Filed: May 15, 2018
    Date of Patent: March 22, 2022
    Assignee: AUDI AG
    Inventors: Christoph Sippl, Daniel Profendiner
  • Patent number: 11276304
    Abstract: System, methods, and other embodiments described herein relate to dynamically determining an appropriate responsive action for a moving vehicle in accordance with local traffic regulations. In one embodiment, the disclosed system identifies a stationary vehicle in an environment of the subject vehicle based at least in part on information from a plurality of sensors disposed on the subject vehicle and classifies a type of the stationary vehicle as valid or abandoned based at least in part on the information from the plurality of sensors. A classification of valid indicates that a traffic regulation requires the subject vehicle to undertake a responsive action toward the stationary vehicle. The disclosed system obtains a local traffic regulation based on a location of the subject vehicle and modifies a trajectory of the subject vehicle based on the local traffic regulation when the type of the stationary vehicle is determined to be valid.
    Type: Grant
    Filed: December 20, 2018
    Date of Patent: March 15, 2022
    Assignees: Denso International America, Inc., Denso Corporation
    Inventors: Matthew Gesch, Jin Kurumisawa, Andrew Mueller
  • Patent number: 11260861
    Abstract: A method, a device and a computer-readable storage medium with instructions for determining the lateral position of a vehicle relative to the lanes on a roadway. The device has an image processing unit for detecting roadway markings as well as a positioning unit for determining an initial position for the vehicle. An evaluation unit is set up to determine that the detected roadway markings are insufficient for detecting a lateral position of the vehicle by comparing the detected roadway markings with roadway marking information from a lane geometry map for the initial position determined for the vehicle. In this case, the evaluation unit identifies an approximate lateral position of the vehicle while taking into consideration information from the lane geometric map.
    Type: Grant
    Filed: June 13, 2017
    Date of Patent: March 1, 2022
    Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
    Inventors: Moritz Schack, Markus Kerper
  • Patent number: 11235782
    Abstract: A vehicle control system includes: an automated driving controller configured to execute automated driving in which at least one of acceleration/deceleration and steering of a vehicle is automatically controlled; and a mode setter configured to set a mode of the automated driving which is executed by the automated driving controller and to set the mode of automated driving to an exchangeable mode in which an occupant who sits in a driver seat is able to be exchanged when the automated driving is executed in a mode in which an occupant needs to sit in the driver seat of the vehicle and predetermined conditions have been satisfied. Accordingly, it is possible to enable smooth exchange of an occupant during automated driving.
    Type: Grant
    Filed: November 10, 2016
    Date of Patent: February 1, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yoshitaka Mimura, Masahiko Asakura, Hironori Takano, Junichi Maruyama
  • Patent number: 11230273
    Abstract: The present disclosure relates to a method for autonomously controlling a vehicle performed by a vehicle control system, the vehicle control system comprising a zone control system, a collision prediction system and a braking control system, the method comprising the steps of: defining in the zone control system at least a first zone and a second zone relative to a vehicle position, predicting a collision with an obstacle with the prediction system, autonomously braking the vehicle with the braking control system in a first braking mode if the collision is predicted to occur in the first zone and braking the vehicle with the braking control system in a second braking mode if the collision is predicted to occur in the second zone.
    Type: Grant
    Filed: May 2, 2019
    Date of Patent: January 25, 2022
    Assignee: LIEBHERR MINING EQUIPMENT NEWPORT NEWS CO.
    Inventor: James Whitfield, Jr.
  • Patent number: 11225251
    Abstract: The vehicle control device includes a start determination unit configured to determine whether or not the inter-vehicle distance between the preceding vehicle and the host vehicle has become equal to or greater than a start threshold greater in value than the stop threshold, and a vehicle control unit configured to start the host vehicle based on a preset speed profile after the start determination unit determines that the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or greater than the start threshold and maintain the stopped state of the host vehicle until the start determination unit determines that the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or greater than the start threshold after the preceding vehicle and the host vehicle stop.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: January 18, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Eiji Sakaguchi
  • Patent number: 11214239
    Abstract: A driving support apparatus is provided with: a recognizer configured to obtain information indicating a surrounding environment of a host vehicle, and configured to recognize a deceleration required target, which is a target that requires deceleration of the host vehicle; and a supporter configured to perform a driving support operation for supporting the deceleration of the host vehicle, on condition that the deceleration required target is recognized by the recognizer. If a recognition situation, which is recognized by said recognizer, of the deceleration required target that causes the driving support operation to be performed becomes uncertain while performing the driving support operation, said supporter is configured to maintain a preceding operating state of the driving support operation, which is an operating state immediately before the recognition situation becomes uncertain.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: January 4, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Masahiko Adachi
  • Patent number: 11215991
    Abstract: An autonomous driving system for vehicles includes: an autonomous driving controller for controlling autonomous driving of a host vehicle based on information of nearby vehicles and requesting warning and handover upon determining that a failure in autonomous driving of nearby vehicles has occurred; a communication controller for requesting the warning and handover; selecting an emergency target vehicle and requesting a driving mode of following the emergency target vehicle upon receiving autonomous driving failure information; a human-machine interface device for outputting warning and handover information in response to the request of the autonomous driving controller and the communication controller; and a host vehicle driving controller for controlling driving of the host vehicle in response to the request of the autonomous driving controller and the communication controller.
    Type: Grant
    Filed: May 30, 2019
    Date of Patent: January 4, 2022
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Hahk Rel Noh, Su Lyun Sung, Dae Sung Hwang, Jun Ho Park, Cho Rong Ryu, Tae Jun Lee, Da Yeon Park, Dong Gyu Noh, Jong Rok Park