Abstract: In response to receiving a request from a user device for an on-demand crossing of a roadway at a geo-location, a method determines whether connected vehicles on the roadway are approaching the geo-location. A wait-to-cross-the-roadway message is sent to the user's device. In response to determining connected vehicles are approaching the geo-location, a direction, distance, and speed of connected vehicles relative to the geo-location are determined. Instructions are sent to the connected vehicles to reduce speed and allow the user to cross the roadway, including a message to the user device explaining a purpose of the instructions. In response to determining the one or more connected vehicles comply with the instructions, the one or more processors send a safe-to-cross message to the user, and upon detecting successful roadway crossing of the user device, instructing the connected vehicles to resume travel.

Abstract: According to the present invention, there is provided an analysis apparatus (10) including an image analysis unit (11) that detects a predetermined part of a vehicle and persons on the vehicle from each of a plurality of images obtained by imaging the same vehicle from different directions a plurality of times, and detects coordinates of each of the plurality of persons in a coordinate system having the detected predetermined part as a reference; a grouping unit (12) that groups the persons detected from the different images, on the basis of the coordinates; and a counting unit (13) that counts the number of groups.

Abstract: A photoelectric conversion device includes a plurality of pixels and a readout circuit. Each of the plurality of pixels includes a pixel circuit including a photoelectric conversion unit. The readout circuit is configured for reading out a signal from the plurality of pixels. The pixel circuit of each of the plurality of pixels includes at least a first transistor that receives a signal based on signal charges generated by the photoelectric conversion unit and is a part of a differential pair. The pixel circuit or the readout circuit has a second transistor. The size of the first transistor and the size of the second transistor are different from each other.

Abstract: Efficient and scalable three-dimensional point cloud segmentation. In an embodiment, a three-dimensional point cloud is segmented by adding points to a spatial hash. For each unseen point, a cluster is generated, the unseen point is added to the cluster and marked as seen, and, for each point that is added to the cluster, the point is set as a reference, a reference threshold metric is computed, all unseen neighbors are identified based on the reference threshold metric, and, for each identified unseen neighbor, the unseen neighbor is marked as seen, a neighbor threshold metric is computed, and the neighbor is added or not added to the cluster based on the neighbor threshold metric. When the cluster reaches a threshold size, it may be added to a cluster list. Objects may be identified based on the cluster list and used to control autonomous system(s).

Abstract: Techniques for determining and/or predicting a trajectory of an object by using the appearance of the object, as captured in an image, are discussed herein. Image data, sensor data, and/or a predicted trajectory of the object (e.g., a pedestrian, animal, and the like) may be used to train a machine learning model that can subsequently be provided to, and used by, an autonomous vehicle for operation and navigation. In some implementations, predicted trajectories may be compared to actual trajectories and such comparisons are used as training data for machine learning.

Abstract: A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.

Abstract: A method, apparatus, and computer readable storage medium for updating an electronic map are disclosed. A method for updating an electronic map includes: acquiring a group of collected images collected by a collection entity and associated with a target map element in the electronic map, the target map element having a target image and a target location; executing inter-group matching between the group of collected images and the target image; executing intra-group matching among the group of collected images; and updating a location of a to-be-updated map element associated with the target map element based on the inter-group matching, the intra-group matching and the target location. In this way, the positioning precision of map elements can be improved.

Abstract: Systems and methods for controlling a failover response of an autonomous vehicle are provided. In one example embodiment, a method includes determining, by one or more computing devices on-board an autonomous vehicle, an operational mode of the autonomous vehicle. The autonomous vehicle is configured to operate in at least a first operational mode in which a human driver is present in the autonomous vehicle and a second operational mode in which the human driver is not present in the autonomous vehicle. The method includes detecting a triggering event associated with the autonomous vehicle. The method includes determining actions to be performed by the autonomous vehicle in response to the triggering event based at least in part on the operational mode. The method includes providing one or more control signals to one or more of the systems on-board the autonomous vehicle to perform the one or more actions in response to the triggering event.

Abstract: Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration or deceleration, and speed. In some aspects, vehicle onboard systems supply various data (breadcrumbs) to a Network Operations Center (NOC), which in turn provides data (authorization data) to the vehicles to facilitate platooning. The NOC suggests vehicles for platooning based on, for example, travel forecasts and analysis of relevant roadways to identify platoonable roadway segments. The NOC also can provide traffic, roadway, weather, or system updates, as well as various instructions. In some aspects, a mesh network ensures improved communication among vehicles and with the NOC. In some aspects, a vehicle onboard system may provide the authorization data.

Abstract: A motor-driven power steering apparatus includes an auxiliary output generation unit configured to generate an auxiliary output of a motor by using at least one of a vehicle speed, a steering angle and a column torque; a compensation gain generation unit configured to generate a compensation gain for compensating for a steering pull of a vehicle by a rapid acceleration during a turn, by using at least one of the vehicle speed, the steering angle and the column torque; and an auxiliary output compensation unit configured to compensate for an auxiliary output by applying the compensation gain outputted by the compensation gain generation unit to the auxiliary output.

Abstract: An automated driving system includes a determiner, a driving switch controller, and a notification controller. The determiner determines each of a plurality of determination items that is a condition for switching from an automated driving to a manual driving. The driving switch controller switches from the automated driving to the manual driving when all of the plurality of determination items are determined as positive. The notification controller notifies a driver of notification information for urging a reaction of the driver when at least one of the plurality of determination items is determined as negative. The determiner determines the at least one or all of the plurality of determination items before a vehicle passes through a switch determination point. The determiner determines the at least one or all of the plurality of determination items when or after the vehicle passes through the switch determination point.

Abstract: System and techniques for detecting a crop related row from an image are described herein. An image that includes several rows where the several rows including crop rows and furrows can be obtained. The image can be segmented to produce a set of image segments. A filter can be shifted across respective segments of the set of image segments to get a set of positions. A line can be fit members of the set of positions, the line representing a crop row or furrow.

Abstract: A collision determination apparatus includes: an own vehicle route estimating unit that estimates a route of an own vehicle; a target object route estimating unit that estimates a route of a target object; and a collision determining unit that performs a collision determination regarding the own vehicle and the target object. When the own vehicle route estimating unit estimates the route of the own vehicle to be circular arc-shaped, the collision determining unit divides a circular arc indicating the route of the own vehicle into a plurality of circular arcs, approximates each of the divided circular arcs as a straight line by connecting an end point and an end point of each of the divided circular arcs, and performs the collision determination based on whether any of the approximated straight lines and the route of the target object intersect.

Abstract: A system, vehicle and method are provided that automatically activate and deactivate a driver assistance system. The automatic activation and deactivation depend on predefined criteria such as brake or gas pedal release, current vehicle velocity, and the presence of a lead vehicle.

Abstract: A vehicle capable of drive assist or automatic driving, comprises: a first sensor disposed intermediately in a vehicle width direction on at least one of front and rear surfaces of the vehicle and detecting an object therearound; bulging parts disposed on both sides of the at least one surface in the vehicle width direction and made up of a body bulging at least outward in a vehicle longitudinal direction; a connection surface that connects an outside surface in the vehicle width direction and an outside surface in the vehicle longitudinal direction of each of the bulging parts and that is an inclined surface or a round surface; and a second sensor arranged on the connection surface and detecting an object therearound.

Abstract: A control system for an automatic guided vehicle includes a vehicle, a contour-detection module, a position-detection module, and a processing device. The contour-detection module is disposed on the vehicle. The contour-detection module is configured to detect a ceiling and a target object, which is disposed on the ceiling, and to generate a contour signal. The position-detection module is disposed on the vehicle. The position-detection module is configured to detect the position of the vehicle and generate a position signal. The processing device is configured to generate a target mark corresponding to the target object according to the contour signal and the position signal. The processing device is configured to automatically control the carrier to move along a movement path. When the contour-detection module detects the target object, the processing device corrects the movement direction of the vehicle according to the target mark.

Abstract: Disclosed are an apparatus for controlling vehicle platooning and a method thereof. The apparatus includes a communication device that receives estimated acceleration from a leading vehicle, a radar sensor that measures acceleration of a preceding vehicle, and a controller that calculates corrected acceleration by using the estimated acceleration received from the leading vehicle and the acceleration (hereinafter, referred to as a measured acceleration) of the preceding vehicle measured by the radar sensor and controls the vehicle platooning based on the corrected acceleration.

Abstract: Embodiments include a computer-implemented method, system and computer-program product for performing a comparative priority and target destination based lane assignment is provided. Embodiments include determining a number of lanes available for lane assignment, receiving target destination information for one or more vehicles, and receiving vehicle information from the one or more vehicles. In addition, the embodiments include determining location information for the one or more vehicles, and assigning the one or more vehicles based at least in part on the target destination information and the vehicle information.

Abstract: The present invention relates to a method for estimating a position of an ego vehicle for autonomous driving including the steps of: receiving first sensor inputs from first sensors to extract visual road information; allowing the extracted visual road information to match first map data to produce a first matching score group; receiving second sensor inputs from second sensors; allowing the received second sensor inputs to match the second map data to produce a second matching score group; checking whether the first matching score group is consistent to the second matching score group; and estimating any one of the position candidates in the position candidate group of the ego vehicle as the position of the ego vehicle according to the consistency checking result.

Abstract: A method of controlling a mobile intelligent transport system (ITS) station. The method includes sensing a power of a signal received on a first channel of a dedicated short-range communication (DSRC) interface; and when a time during which the power of the received signal is greater than a threshold, or a number of times the power of the received signal is greater than the threshold satisfies a first predetermined value, determining a message transmission is impossible on the first channel.

Abstract: An elevation map generator in a mobile agricultural machine generates an elevation map by estimating an elevation value for points in front of a work machine based on a plane derived from a measured elevation point measured by a pose detection system affixed to the work machine. Each elevation value has a corresponding confidence value that varies inversely with a distance of the point from the pose detection system. As the machine moves, additional elevation values are aggregated for each point, based on the confidence values. The machine is controlled based on the aggregated evaluation values.

Abstract: The present disclosure provides a map generation method, localization method, and simultaneous localization and mapping method. The method includes: recognizing fiducial markers in the motion area; taking a position as origin of a global coordinate system of the robot, and obtaining pose information of the fiducial markers; the robot moving to a next position, recognizing the fiducial markers with determined coordinate information and underdetermined coordinate information respectively, and obtaining pose information of the fiducial marker of the undetermined coordinate information with respect to the origin based on that of the determined coordinate information; repeating the previous step until the pose information of all the fiducial markers are obtained; and generating a marker map associated with coordinate information of all fiducial markers. The method is capable of generating a map of the motion area through the fiducial markers and further realizing autonomous localization.

Abstract: A method of real-time plant selection and removal from a plant field including capturing a first image of a first section of the plant field, segmenting the first image into regions indicative of individual plants within the first section, selecting the optimal plants for retention from the first image based on the first image and the previously thinned plant field sections, sending instructions to the plant removal mechanism for removal of the plants corresponding to the unselected regions of the first image from the second section before the machine passes the unselected regions, and repeating the aforementioned steps for a second section of the plant field adjacent the first section in the direction of machine travel.

Abstract: A vehicle control apparatus is configured to be capable of controlling movement and parking of a vehicle based on an operation from an operation terminal. The vehicle control apparatus comprises a processing unit configured to execute processing in a virtual parking control mode in which a virtual vehicle displayed on a screen is virtually operated by the operation from the operation terminal and processing in a remote parking control mode in which the vehicle is moved to a parking position and parked at the parking position based on the operation from the operation terminal.

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering an occupant of the vehicle to a destination autonomously as well as providing information about the vehicle and the vehicle's environment for display to the occupant.

Abstract: An approach is provided for aligning one or more drive segments based on a consensus set of user defined inputs. The approach involves, for example, retrieving manual drive alignment data collected from a plurality of human users, wherein the manual drive alignment data indicates one or more regions of at least two drive data segments selected by the human users to align the at least two drive segments. The approach also involves processing the manual drive alignment data to determine a set of common drive alignment locations of the one or more regions. The approach further involves processing a plurality of subsequent drive segments to automatically align the plurality of subsequent drive segments based on the set of common drive alignment locations.

Abstract: A mobile robot is provided. The mobile robot includes: a driving mechanism configured to drive the mobile robot to move; a chassis on which the driving mechanism is mounted; and a camera mainboard, on which a camera module is provided. The camera module is configured to obtain an external environment image and has at least two optical axes. The camera mainboard is arranged on the chassis such that each of the at least two optical axes is parallel to a horizontal plane.

Abstract: The present subject matter relates to a method and system maintaining driver alertness while driving mode of a vehicle is changed from manual to autonomous driving mode. The system includes a monitoring module to detect a transition from a manual drive mode to an autonomous drive mode. Based on this, a driver monitoring module gets activated. The driver monitoring module once activated, monitors the driver alertness during the autonomous drive mode. The system further includes an interactive module, which is connected to the monitoring module that gets activated in case alertness level of the driver falls below a first threshold value. The first threshold value may be determined based on multiple attributes. Further, the interactive training program is deactivated if the alertness of the driver is equal or greater than a second threshold value.

Abstract: Embodiments of the disclosure provide methods and systems for positioning a vehicle. The system may include a communication interface configured to receive a set of point cloud data with respect to a scene captured under a first lighting condition by at least one sensor. The system may further include a storage configured to store the set of point cloud data, and a processor. The processor may be configured to identify at least one local light source based on the set of point cloud data, modify the set of point cloud data based on a simulated light from the at least one local light source corresponding to a second lighting condition, and position the vehicle under the second lighting condition based on the modified set of point cloud data.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.

Abstract: The application provides an obstacle detecting method and obstacle detecting apparatus based on an unmanned vehicle, and a device, and a storage medium, where the method includes obtaining point cloud data collected by a detecting device, projecting the point cloud data onto a two-dimensional plane to obtain a two-dimensional projection grid graph, where the two-dimensional projection grid graph has multiple grids and two-dimensional data, and two-dimensional data is data obtained after the point cloud data is projected; generating multiple straight lines according to the two-dimensional projection grid graph, where each of the multiple straight lines has two-dimensional data, and each straight line has parameter information which represents the relationship between the straight line and other straight lines in the multiple straight lines; and determining orientation information of the obstacle according to the two-dimensional data and the parameter information of each of the multiple straight lines.

Abstract: A vehicle is guided from an initial position to a target position using a projection of a laser beam on a target. A set of waypoints from the initial position of the vehicle to a position proximate to the target position is determined using an orientation of a laser pointer that projects the laser beam and based on projection of the UAV initial position onto the laser beam pointing at the target. The vehicle is guided along the set of determined waypoints to the position proximate to the target position. The vehicle is guided from the position proximate to the target position using the optical system of the vehicle responsive to detection of a dot of the laser beam on the target by an optical system of the vehicle.

Abstract: A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first position to a second position, measuring 3D coordinates with the 3D scanner at the second position, and determining a correspondence among targets in the first and second positions while moving between the second position and a third registration position.

Abstract: An autonomous driving method includes: recognizing a target vehicle; determining a first slope of a host vehicle and a second slope of the target vehicle; correcting a result of the recognizing of the target vehicle based on the first slope and the second slope; and controlling the host vehicle based on the corrected result of the recognizing of the target vehicle.

Abstract: In a server device, a specifying part is configured to, based on information acquired from a plurality of vehicles, specify a distribution target vehicle to which an image recognition logic for image recognition of a predetermined object is to be distributed, among the plurality of vehicles. A distribution part is configured to distribute the image recognition logic to the distribution target vehicle specified by the specifying part. An acquisition part is configured to acquire information on the predetermined object from the distribution target vehicle to which the image recognition logic has been distributed, the information on the predetermined object being recognized by executing the image recognition logic on a captured out-of-vehicle image of the distribution target vehicle.

Abstract: The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.

Abstract: A vehicle occupant warning system includes a receiver, an electronic controller and a mitigation device. The receiver is disposed onboard a host vehicle and is configured to receive remote vehicle information representing a travel condition of a remote vehicle. The electronic is controller configured to determine whether the remote vehicle will pass adjacent a side of the host based on the remote vehicle information. The mitigation device is configured to perform a mitigation operation to prevent an occupant of the host vehicle from exiting the host vehicle when instructed by the electronic controller.

Abstract: Examples of techniques for controlling a vehicle using an anchor line are disclosed. In one example implementation, a computer-implemented method includes receiving a lane line quality indicator from a camera associated with a vehicle. The method further includes determining a lane line weight. The method further includes comparing the lane line quality indicator to a quality threshold to determine whether the lane line is of sufficient quality to use as an anchor line. The method further includes comparing the lane line weight to a confidence threshold to determine whether the lane line is of sufficient confidence to use as the anchor line. The method further includes, responsive to determining that at least one of the lane line is not of sufficient quality and the lane line is not of sufficient weight, generating an alternate anchor line. The method further includes controlling the vehicle using the alternate anchor line.

Abstract: The described positional awareness techniques employing visual-inertial 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 provide positional awareness to machines with improved speed and accuracy.

Abstract: A measuring device for determining the location of one or more measurement points relative to the measuring device. The measuring device is arranged to be coupled to a non-contact distance measuring device (EDM) and one or more sensors for determining the EDM's orientation. The measuring device comprises an image capture device (ICD) operable to output digital images and being arranged to be coupled to the EDM such that the ICD moves in known registration with respect to the EDM. A controller is arranged to receive data from the one or more sensors and the ICD. The controller can associate an image with the orientation of the EDM during exposure of the image, locate one of the measurement points within the image, and use the location of the measurement point within the image and the EDM's orientation to establish the direction of the measurement point with respect to the measuring device.

Abstract: Systems and methods are provided for crowdsourcing road surface information collection. In one implementation, a method of collecting road surface information for a road segment may include receiving at least one image representative of a portion of the road segment, identifying in the at least one image at least one road surface feature along the portion of the road segment, determining a plurality of locations associated with the road surface feature according to a local coordinate system of the vehicle, and transmitting the determined plurality of locations from the vehicle to a server. The determined locations may be configured to enable determination by the server of a line representation of the road surface feature extending along the road segment.

Abstract: An approach is provided for creating underground drone routes. The approach, for example, involves querying digital map data for at least one underground and/or interior passageway to reach a destination of the drone. The digital map data includes location data for a plurality of entry points, a plurality of exit points, or a combination thereof to the network of underground and/or interior passageways. The approach also involves generating a route to the destination via the at least one underground passageway based on the location data.

Abstract: A vehicle control device includes a travel control unit configured to control travel of a vehicle on the basis of an action plan including a plurality of events that are sequentially executed to control acceleration and deceleration or steering when the vehicle travels; an abnormality detection unit configured to detect a specific abnormal state that affects a control result of the travel control unit based on the action plan; and a changing unit configured to change content controlled by the travel control unit on the basis of either or both of a type of an event being executed according to control by the travel control unit and a type of an event scheduled to be executed following the event being executed among events included in the action plan when the specific abnormal state is detected by the abnormality detection unit.

Abstract: When an automatic parking registration method is selected, a vehicle control ECU performs a pre-registration automatic parking control and stores a position determined based on a position of a vehicle at a time point at which the vehicle is set to a stop state by the pre-registration automatic parking control as a registered parking position in a non-volatile memory. When an execution condition of a post-registration automatic parking control is satisfied, the vehicle control ECU performs the post-registration automatic parking control after setting a target parking position to registered parking position which has been stored in the non-volatile memory.

Abstract: An approach is provided for mapping underground and/or interior passageways for drone routing. The approach, for example, involves determining location data for entry points, exit points, or a combination thereof to the underground and/or interior passageways. The entry points facilitate an entry of a drone into the plurality of underground and/or interior passageways, and the exit points facilitate an exit of the drone from the plurality of passageways. The approach also involves associating the location data with a geographic database. The geographic database further includes digital map data representing the plurality of underground passageways and is used to determine a route through the underground and/or interior passageways for the drone.

Abstract: A triggering condition for initiating an interaction session with an occupant of a vehicle is detected. A display is populated with representations of one or more options for operations associated with the vehicle. Based at least in part on an analysis of one or more signals generated by the occupant, a particular option is selected for implementation. An indication that the particular option has been selected is provided, and an operation corresponding to the particular option is initiated.

Abstract: This disclosure is directed to calibrating sensor arrays, including sensors arrays mounted on an autonomous vehicle. Image data from multiple cameras in the sensor array can be projected into other camera spaces using one or more dense depth maps. The dense depth map(s) can be generated from point cloud data generated by one of the sensors in the array. Differences determined by the comparison can indicate alignment errors between the cameras. Calibration data associated with the errors can be determined and used to calibrate the sensor array without the need for calibration infrastructure.

Abstract: Traffic direction gesture recognition may be implemented for a vehicle in response to traffic diversion signals in the vehicles vicinity. Sensors implemented as part of a vehicle may collect data about pedestrians and other obstacles in the vicinity of the vehicle or along the vehicle's route of travel. Sensor data may be combined and analyzed to identify a traffic diversion condition, including identifying a traffic director directing traffic using gestures or signs. Gestures of a traffic director may be interpreted and understood by the vehicle as commands to perform maneuvers related to the traffic diversion, including stopping, slowing, or turning onto a detour route. The vehicle may be equipped with a command acknowledgement device for acknowledging to a traffic director the vehicle's understanding of the traffic diversion condition or maneuver commands. Information, such as traffic diversion and detour information, may be shared with other vehicles and devices, or stored in a database.

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.

Abstract: Various technologies described herein pertain to causing presentation on a user interface of an immediate portion of a navigation route of an autonomous vehicle. A computing system of the autonomous vehicle determines whether an object detected by sensor(s) of the autonomous vehicle proximate to the immediate portion of the navigation route are of a type and relative position defined as one of consequential and inconsequential for a human passenger. In response to determining that an object has both a type and relative position defined as consequential, the computing system causes presentation on the user interface a representation of the object relative to the immediate portion of the navigation route to provide a confidence engendering indication that the autonomous vehicle has detected the object. Otherwise if inconsequential, presentation on the user interface of any representation of the object is not caused by the computing system to avoid creating a confusing presentation.