Collision Avoidance Patents (Class 701/301)
  • Patent number: 11511737
    Abstract: A non-transitory computer readable storage medium has instructions executed by a processor to obtain the relative speed between a first traffic object and a second traffic object. The separation distance between the first traffic object and the second traffic object is received. The relative speed and the separation distance are combined to form a quantitative measure of hazard encountered by the first traffic object. The obtain, receive and combine operations are repeated to form cumulative measures of hazard associated with the first traffic object. The cumulative measures of hazard are analyzed to derive a first traffic object safety score for the first traffic object.
    Type: Grant
    Filed: May 22, 2020
    Date of Patent: November 29, 2022
    Assignee: Systomix, Inc.
    Inventor: Erik K. Antonsson
  • Patent number: 11511748
    Abstract: A velocity trajectory generation method and apparatus, and a storage medium are provided. The method includes: setting starting point time, intermediate point time and terminal point time of a velocity trajectory to be generated, wherein the velocity trajectory includes a first velocity sub-trajectory and a second velocity sub-trajectory; generating multiple first velocity sub-trajectories corresponding to a starting point velocity between the starting point time and the intermediate point time, according to the starting point velocity and multiple intermediate point velocities; and generating, for each of the first velocity sub-trajectories, multiple second velocity sub-trajectories between the intermediate point time and the terminal point time according to multiple terminal point velocities. A velocity trajectory which is more in line with a human driving characteristic may be generated, the comfort level of a passenger may be improved, and an algorithm may be simplified.
    Type: Grant
    Filed: February 12, 2020
    Date of Patent: November 29, 2022
    Assignee: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.
    Inventors: Changchun Liu, Yaqin Chen, Peng Geng
  • Patent number: 11511741
    Abstract: A lane keep assist device is configured to perform lane keep assist control for making a host vehicle travel along a lane, and preventing the host vehicle from departing from the lane. The lane keep assist device includes an electronic control device configured to detect presence or absence of another vehicle, present in a vicinity of the host vehicle, which have a gradual decrease in a distance from the host vehicle, and when the other vehicle is detected, the electronic control device configured to set virtual line extending along front-rear direction of the detected other vehicle at position away by first predetermined distance in right-left direction of the other vehicle from lateral side of the detected other vehicle, and to specify the lane based on the set virtual line to perform the lane keep assist control.
    Type: Grant
    Filed: June 10, 2020
    Date of Patent: November 29, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Akira Nagae, Ryo Inomata, Hironori Ito, Masayuki Ikeda
  • Patent number: 11508244
    Abstract: The present disclosure relates to a method for determining an action for collision avoidance in a craft.
    Type: Grant
    Filed: March 5, 2021
    Date of Patent: November 22, 2022
    Assignee: SAAB AB
    Inventors: Mikaela Lokatt, Stefan Blom
  • Patent number: 11505184
    Abstract: An apparatus for assistance avoidance steering is provided. The apparatus includes a processor configured to perform avoidance steering control based on Rear Wheel Steering (RWS) control when a head-on collision risk is sensed, and a storage configured to store data and an algorithm runnable by the processor. The avoidance steering control is based on the algorithm.
    Type: Grant
    Filed: March 23, 2020
    Date of Patent: November 22, 2022
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Jae Il Park, Seung Ki Kim
  • Patent number: 11501639
    Abstract: The present disclosure generally relates to generating emergency vehicle warnings, automatic control of autonomous vehicles based upon the emergency vehicle warnings. More particularly, the present disclosure relates to generating data representative of emergency vehicle warnings and alternate autonomous vehicle routing based upon real-time information related to an emergency vehicle. The information related to the emergency vehicle may include emergency vehicle origination location data, emergency vehicle current location data, emergency vehicle route data, and/or emergency vehicle destination location data. An emergency vehicle warning and/or alternate vehicle routing for autonomous vehicles may be generated based further on information related to an autonomous vehicle. In one aspect, an emergency vehicle may wirelessly communicate with the autonomous vehicle and/or an insurance provider remote server.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: November 15, 2022
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventor: Scott T. Christensen
  • Patent number: 11498580
    Abstract: A processing platform may obtain sensor data associated with a vehicle and manual input data associated with the vehicle. The processing platform may determine, based on the sensor data, automated control information. The processing platform may determine, based on the sensor data and the manual input data, a parameter associated with the vehicle. The processing platform may determine, based on the automated control information, a control rating associated with the parameter. The processing platform may determine whether the control rating satisfies a threshold for a period of time. The processing platform may cause, based on determining that the control rating satisfies the threshold for the period of time, at least one action to be performed.
    Type: Grant
    Filed: June 18, 2019
    Date of Patent: November 15, 2022
    Assignee: Verizon Patent and Licensing Inc.
    Inventor: Wei Li
  • Patent number: 11498537
    Abstract: Systems and methods are disclosed for estimating slipperiness of a road surface. This estimate may be obtained using an image sensor mounted on a vehicle. The estimated road slipperiness may be utilized when calculating a risk index for the road, or for an area including the road. If a predetermined threshold for slipperiness is exceeded, corrective actions may be taken. For instance, warnings may be generated to human drivers that are in control of driving vehicle, and autonomous vehicles may automatically adjust vehicle speed based upon road slipperiness detected.
    Type: Grant
    Filed: June 23, 2020
    Date of Patent: November 15, 2022
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Kristopher Keith Gaudin, Roxane Lyons, William J. Leise, John A. Nepomuceno, Rajiv C. Shah, Edward P. Matesevac, III, Jennifer Criswell Kellett, Jeremy Myers, Matthew S. Megyese, Leo Nelson Chan, Steven Cielocha, Jennifer L. Crawford
  • Patent number: 11501495
    Abstract: Systems and methods for interactions between an autonomous vehicle and one or more external observers include virtual models of drivers the autonomous vehicle. The virtual models may be generated by the autonomous vehicle and displayed to one or more external observers, and in some cases using devices worn by the external observers. The virtual models may facilitate interactions between the external observers and the autonomous vehicle using gestures or other visual cues. The virtual models may be encrypted with characteristics of an external observer, such as the external observer's face image, iris, or other representative features. Multiple virtual models for multiple external observers may be simultaneously used for multiple communications while preventing interference due to possible overlap of the multiple virtual models.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: November 15, 2022
    Assignee: QUALCOMM Incorporated
    Inventors: Debdeep Banerjee, Ananthapadmanabhan Arasanipalai Kandhadai
  • Patent number: 11492009
    Abstract: Provided is a vehicle control device configured to execute specific control while at the same time sequentially switching the specific control that defines an operation to be executed by each of a plurality of surrounding environment acquisition devices configured to acquire information on a surrounding environment of a vehicle, a recognition/determination ECU configured to generate a path on which the vehicle is to travel, and an integrated control ECU configured to control the vehicle based on the generated path along with an elapse of time since detection of an anomaly, when the anomaly is detected in any one of the plurality of surrounding environment acquisition devices, the recognition/determination ECU, and the integrated control ECU.
    Type: Grant
    Filed: June 8, 2017
    Date of Patent: November 8, 2022
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventor: Daisuke Kawakami
  • Patent number: 11491978
    Abstract: A driving assistance device to properly recognize a relative positional relationship between mobile objects without the use of map information. The driving assistance device includes a relative position judgment section for judging a relative positional relationship of an object of interest and a first neighboring object relative to a second neighboring object, based on object-of-interest information and neighbor information, to make a judgment as a first judgment on a relative positional relationship between the object of interest and the first neighboring object, based on the aforementioned judgment result.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: November 8, 2022
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Yuji Hamada, Yoshiaki Adachi, Takayoshi Takehara, Takashi Maeda, Masahiko Ikawa
  • Patent number: 11479220
    Abstract: A system includes a computer having a processor and a memory storing instructions executable by the processor to determine a braking distance based on a gap distance between a primary vehicle and a second vehicle in an adjacent lane, and based on a speed of the second vehicle in the adjacent lane. The instructions include instructions to actuate a braking system of the primary vehicle when the primary vehicle is the braking distance from a third vehicle in a same lane as the primary vehicle.
    Type: Grant
    Filed: June 7, 2019
    Date of Patent: October 25, 2022
    Assignee: Ford Global Technologies, LLC
    Inventors: Andrew Denis Lewandowski, Grant Patrick Mayer
  • Patent number: 11472435
    Abstract: A trajectory determination method for a vehicle is provided. A target vehicle trajectory is determined from among multiple candidate vehicle trajectories by considering, for each of the candidate vehicle trajectories, presence or absence of a front obstacle, presence or absence of a potentially-colliding obstacle, and a condition related to lane change, so as to enhance driving safety of the vehicle.
    Type: Grant
    Filed: November 30, 2020
    Date of Patent: October 18, 2022
    Assignee: AUTOMOTIVE RESEARCH & TESTING CENTER
    Inventors: Yu-Ting Lin, Tsung-Ming Hsu
  • Patent number: 11474243
    Abstract: Disclosed is a method and a system for retrieving a location of a base point of a wheeled vehicle in a local coordinate system of a tridimensional sensor mounted on the vehicle. The method includes acquiring point cloud frames while the wheeled vehicle is moving along a straight path and a curved path and a point cloud representative of a portion of the vehicle, computing a main direction vector, a main direction line and a location of an instantaneous centre of rotation of the wheeled vehicle in the local coordinate system, and retrieving the location of the base point.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: October 18, 2022
    Assignee: OUTSIGHT
    Inventors: Raul Bravo Orellana, Olivier Garcia
  • Patent number: 11475768
    Abstract: A system, method and storage medium for providing an emergency vehicle alert includes first device transmitting EV data including a current location of an EV to a management server, management server receiving the EV data from the first device, the management server determining a geofence for the EV at least based on the received EV data and geographical map data near the EV, and management server transmitting the determined geofence to a second device. The first device is associated with the EV, and the second device is associated with the another vehicle.
    Type: Grant
    Filed: May 4, 2020
    Date of Patent: October 18, 2022
    Assignee: WHELEN ENGINEERING COMPANY, INC.
    Inventors: George Whelen, Kenneth Lemieux
  • Patent number: 11475774
    Abstract: A device may include a memory storing instructions and processor configured to execute the instructions to receive information relating to a plurality of vehicles in an area. The device may be further configured to use a trained machine learning model to determine a likelihood of collision by one or more of the plurality of vehicles; identify one or more relevant vehicles of the plurality of vehicles that are in danger of collision based on the determined likelihood of collision; and send an alert indicating the danger of collision to at least one of the identified one or more relevant vehicles.
    Type: Grant
    Filed: April 3, 2020
    Date of Patent: October 18, 2022
    Assignee: Verizon Patent and Licensing Inc.
    Inventors: Derek Wade Ohlarik, Mauricio Pati Caldeira de Andrada, Krishna Pichumani Iyer, Hoo Dennis Ong
  • Patent number: 11465620
    Abstract: A vehicle includes a lane generator that is configured to receive information that describes a first lane portion and a second lane portion and determine that a discontinuity is present. The lane generator obtains a sensor output and detects presence of a nearby vehicle in the first lane portion. A classification for the nearby vehicle is identified by analyzing the sensor output, and is used to select a vehicle kinematics model. The lane generator determines paths for a simulated vehicle from the first lane portion to the second lane portion using the vehicle kinematics model. A third lane portion is determined based on the paths such that the third lane portion defines a traversable route from the first lane portion to the second lane portion in accordance with the vehicle kinematics model. An automated vehicle control system generates control outputs based in part on the third lane portion.
    Type: Grant
    Filed: June 16, 2020
    Date of Patent: October 11, 2022
    Assignee: Apple Inc.
    Inventors: Dimitar H. Lukarski, Siddharth Swaminathan, Miroslav Baric
  • Patent number: 11465644
    Abstract: A driver assistance system plans movement for a motor vehicle, wherein a safe state of the motor vehicle is a state of the motor vehicle in a first time step from which the motor vehicle can be transferred, as a function of a movement capability of the motor vehicle in at least one second time step which follows the first time step, into a further safe state without colliding with a road user. The driver assistance system is configured to determine for at least one future time step starting from a current state of the motor vehicle, at least one possible future state of the motor vehicle and of the road user, and to select safe future states of the motor vehicle from the possible future states of the motor vehicle and of the road user, and to plan a movement for the motor vehicle as a function of the safe future states.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: October 11, 2022
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventor: Christian Pek
  • Patent number: 11470284
    Abstract: Example implementations are provided for an arrangement of co-aligned rotating sensors. One example device includes a light detection and ranging (LIDAR) transmitter that emits light pulses toward a scene according to a pointing direction of the device. The device also includes a LIDAR receiver that detects reflections of the emitted light pulses reflecting from the scene. The device also includes an image sensor that captures an image of the scene based on at least external light originating from one or more external light sources. The device also includes a platform that supports the LIDAR transmitter, the LIDAR receiver, and the image sensor in a particular relative arrangement. The device also includes an actuator that rotates the platform about an axis to adjust the pointing direction of the device.
    Type: Grant
    Filed: February 27, 2021
    Date of Patent: October 11, 2022
    Assignee: Waymo LLC
    Inventors: Pierre-Yves Droz, Simon Verghese, Brendan Hermalyn
  • Patent number: 11468771
    Abstract: The invention relates to a variable speed limit (VSL), ramp metering (RM), and a collaborative method of variable speed limit and ramp metering (VSL-RM) on expressways based on crash risk, including the following steps: 1) calculating the crash risk index within each control step, activating the VSL-RM strategy when the crash risk index exceeds the threshold of the crash risk index, and 2) conduct a multiple-ramp metering strategy, determine the ramps to be controlled and the start-up time for RM, and calculate the integrated ramp regulation rate; 3) execute a variable speed limit strategy to obtain the displayed speed limit value for the segment downstream of the cluster and adjust the ramp regulation rate, mainline desired speed and mainline speed of the segment for the next time period accordingly.
    Type: Grant
    Filed: September 8, 2021
    Date of Patent: October 11, 2022
    Assignee: TONGJI UNIVERSITY
    Inventors: Wanjing Ma, Ziliang He, Ling Wang, Chunhui Yu
  • Patent number: 11458626
    Abstract: A trajectory generating method includes a first generating process of generating a plurality of trajectories between a start teaching point and a target teaching point, an evaluation process of evaluating a motion of the robot arm on each trajectory to calculate an evaluation value of each trajectory, a selection process of selecting one of the plurality of trajectories based on calculated evaluation values, and an update process of updating the trajectory by repeating the processes of generating a plurality of new trajectories by changing a selected trajectory in the selection process, of calculating an evaluation value of a motion of the robot arm on each changed trajectory and of selecting a trajectory based on calculated evaluation values.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: October 4, 2022
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Gen Kimura
  • Patent number: 11462099
    Abstract: A control system for use in a motor vehicle is used for monitoring a current driving situation of the motor vehicle, based on surroundings data of the host motor vehicle in the current driving situation, obtained from at least one surroundings sensor situated on the host motor vehicle. The control system is used to recognize lanes, lane boundary lines, lane markings, and/or other motor vehicles in an area in front of, to the side of, and/or behind the host motor vehicle. In addition, the control system is used to determine at least one driving parameter for each other motor vehicle present in the surroundings of the host motor vehicle, based on the provided surroundings data, and to generate a plurality of possible trajectories for the future travel course for each of the other motor vehicles, based on the driving parameter determined in each case.
    Type: Grant
    Filed: February 6, 2020
    Date of Patent: October 4, 2022
    Assignee: ZF AUTOMOTIVE GERMANY GMBH
    Inventors: Christian Wissing, Manuel Schmidt, Andreas Homann, Christian Lienke, Torsten Bertram, Anne Stockem Novo, Martin Kr├╝ger, Till Nattermann, Karl-Heinz Glander
  • Patent number: 11454701
    Abstract: Provided herein is a system on a vehicle, the system comprising an active Doppler sensor; one or more processors; and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: obtaining a Doppler signature from each of one or more entities; and calibrating the active Doppler sensor based on the Doppler signature from at least a portion of the one or more entities.
    Type: Grant
    Filed: February 10, 2020
    Date of Patent: September 27, 2022
    Assignee: Pony AI Inc.
    Inventors: Cyrus F. Abari, Harsh Mohan, Haomin Wang
  • Patent number: 11454975
    Abstract: Systems and methods are provided for detecting objects of interest. A computing system can input sensor data to one or more first machine-learned models associated with detecting objects external to an autonomous vehicle. The computing system can obtain as an output of the first machine-learned models, data indicative of one or more detected objects. The computing system can determine data indicative of at least one uncertainty associated with the one or more detected objects and input the data indicative of the one or more detected objects and the data indicative of the at least one uncertainty to one or more second machine-learned models. The computing system can obtain as an output of the second machine-learned models, data indicative of at least one prediction associated with the one or more detected objects. The at least one prediction can be based at least in part on the detected objects and the uncertainty.
    Type: Grant
    Filed: July 24, 2018
    Date of Patent: September 27, 2022
    Assignee: UATC, LLC
    Inventors: Cole Christian Gulino, Alexander Rashid Ansari
  • Patent number: 11453395
    Abstract: A method for operating a motor vehicle, in particular a motorcycle, in which a driving maneuver, which includes a lane change and/or a passing maneuver, is carried out in an at least partially automated manner. The acceleration dynamics of the motor vehicle are adjusted as a function of the relative speed of at least one other motor vehicle, for example of a motor vehicle preceding and/or approaching from behind, as the driving maneuver is carried out.
    Type: Grant
    Filed: July 29, 2019
    Date of Patent: September 27, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Stephan Dorenkamp, Mathieu Grelaud, Michael Schoenherr
  • Patent number: 11447224
    Abstract: The position of a watercraft is detected by monitoring GPS position data, and the speed of the watercraft is reduced to a selected limit upon detecting that the watercraft has traveled outside of a selected boundary and is maintained until it is detected that the watercraft has been back within the boundary for a selected time interval, thereby avoiding up and down jerking motion of the watercraft which can occur when only a single location test is used to confirm that the watercraft is back in bounds. An RF transceiver and related control apparatus is employed for detecting other watercraft approaching too closely to the watercraft, and a display is provided for displaying various status and warning indications.
    Type: Grant
    Filed: September 12, 2019
    Date of Patent: September 20, 2022
    Inventor: Wesley Zhou
  • Patent number: 11440546
    Abstract: There is provided a travel control apparatus. A control unit controls a position of the self-vehicle in a width direction so as to ensure a first predetermined interval between the self-vehicle and the other vehicle and to ensure a second predetermined interval between the self-vehicle and the boundary of the first lane. In a case in which both the first predetermined interval and the second predetermined interval cannot be ensured, the control unit controls the position of the self-vehicle in the width direction to preferentially ensure the first predetermined interval when the other vehicle has crossed a first boundary between the first lane and the second lane and to preferentially ensure the second predetermined interval when the other vehicle has not crossed the first boundary.
    Type: Grant
    Filed: February 4, 2021
    Date of Patent: September 13, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Keisuke Oka, Yuki Kizumi, Takashi Mine, Masahiko Asakura
  • Patent number: 11443624
    Abstract: An example operation includes one or more of determining, via a server, a dangerous area on a route of a transport, wherein the dangerous area is based on a new condition of an area, sending a notification to the transport, via the server, of the dangerous area and the new condition and performing, via the transport, at least one atypical action to traverse the dangerous area until a resolution of the new condition occurs, wherein the atypical action comprises one or more movements that do not typically occur on or around the dangerous area.
    Type: Grant
    Filed: March 23, 2020
    Date of Patent: September 13, 2022
    Assignee: TOYOTA MOTOR NORTH AMERICA, INC.
    Inventors: Felipe G. Salles, Shintaro Iwaasa, Louis Brugman, Devang H. Parekh, Robert D. Slater, Christopher J. Risberg, Nutonya L. Parker
  • Patent number: 11442160
    Abstract: A radar system includes a substrate, a first received antenna, a second receive antenna, and radio frequency (RF) circuitry. The substrate includes a first side and a second side. The first side is opposite the second side. The first receive antenna is disposed at the first side and is configured to receive a first reflected RF signal. The second receive antenna is configured to receive a second reflected RF signal. The RF circuitry is operatively coupled to the first receive antenna and the second receive antenna. The RF circuitry is configured to detect a first object located on the first side of the substrate according to the first reflected RF signal. The RF circuitry is further configured to detect biometric data from a second object located on the second side of the substrate according to the second reflected RF signal.
    Type: Grant
    Filed: January 9, 2018
    Date of Patent: September 13, 2022
    Assignee: INFINEON TECHNOLOGIES AG
    Inventors: Ashutosh Baheti, Reinhard-Wolfgang Jungmaier, Saverio Trotta, Avik Santra
  • Patent number: 11442461
    Abstract: A mobile vehicle includes one or more wheels, a sensor configured to detect the position of a follow target, and a controlling section configured to control the one or more wheels based on a detection result of the sensor such that the mobile vehicle follows the follow target. The controlling section is configured to determine a change point at which the traveling direction of the follow target has changed based on the detection result of the sensor, and to set a target point based on the change point.
    Type: Grant
    Filed: September 10, 2018
    Date of Patent: September 13, 2022
    Assignee: KABUSHIKI KAISHA TOYOTA JIDOSHOKKI
    Inventors: Masaya Minamida, Takuto Mihoichi
  • Patent number: 11436922
    Abstract: A method for traffic management of autonomous vehicles in emergency situations is disclosed. Upon receipt of an emergency signal including information on an anomalous traffic condition by an autonomous vehicle, the method includes broadcasting the emergency signal using a wireless communication device. The method further includes establishing an ad hoc wireless network among a plurality of autonomous vehicles and exchanging data among the vehicles of the network. The method further includes collaboratively computing intent instructions for the vehicles of the network to avoid or mitigate the anomalous traffic condition, distributing the instructions among the vehicles of the network, and executing the instructions by each corresponding vehicle.
    Type: Grant
    Filed: August 23, 2019
    Date of Patent: September 6, 2022
    Assignee: The Boeing Company
    Inventors: Jaime Negro Vadillo, Grzegorz Marian Kawiecki, David Esteban Campillo
  • Patent number: 11435442
    Abstract: A method for capturing a surrounding region of a motor vehicle, in which, while the motor vehicle is moved relative to an object in the surrounding region, sensor data are received in each case at predetermined times from a distance sensor by a control device and the object is classified as a static or as a moving object by the control device on the basis of the received sensor data, wherein a distance value is determined by the control device for each of the predetermined times on the basis of the sensor data, said distance value describing a distance between the distance sensor and at least one predetermined point of reflection of the object, and a curve of the distance values as a function of time (t) is compared to a predetermined reference curve for the purposes of classifying the object.
    Type: Grant
    Filed: October 21, 2016
    Date of Patent: September 6, 2022
    Assignee: Valeo Schalter und Sensoren GmbH
    Inventor: Dheeraj Sudhakar
  • Patent number: 11433888
    Abstract: A driving support system detects a deceleration object ahead and starts deceleration assistance for a host vehicle. The driving support system includes a reliability calculation unit configured to calculate a reliability of detection of the deceleration object, an assistance mode selection unit configured to select an assistance mode of the deceleration assistance from among multiple assistance modes in accordance with the calculated reliability of detection, and a driving support unit configured to perform the deceleration assistance in the selected assistance mode. The assistance mode selection unit is configured to select a first assistance mode when the reliability of detection is lower than a predetermined reliability threshold and select a second assistance mode higher in a level of the deceleration assistance than the first assistance mode when the reliability of detection is higher than or equal to the reliability threshold.
    Type: Grant
    Filed: August 13, 2020
    Date of Patent: September 6, 2022
    Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, DENSO CORPORATION
    Inventors: Shogo Ito, Kohei Tochigi, Yuta Ikezawa, Norio Tsuchida
  • Patent number: 11435705
    Abstract: An expert model unit 81 generates predicted expert control actions based on an expert model which is a machine learning model trained using data collected when an expert operated a plant which is a control target or a plant of the same or similar characteristics. A transformer 82 constructs metrics or error measures involving the predicted expert control actions from the expert model unit 81 as an objective term. A combiner 83 collects different objective terms from the transformer 82 and a learner which outputs machine-learning models as objective terms and computes an optimal set of weights or combinations of the objective terms to construct an aggregated cost function for use in an optimizer.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: September 6, 2022
    Assignee: NEC CORPORATION
    Inventors: Wemer Wee, Yoshio Kameda, Riki Eto
  • Patent number: 11438886
    Abstract: A system for establishing positioning map data and a method for the same are provided.
    Type: Grant
    Filed: October 13, 2020
    Date of Patent: September 6, 2022
    Assignee: PSJ INTERNATIONAL LTD.
    Inventors: Chung-Yuan Chen, Alexander I Chi Lai, Ruey-Beei Wu
  • Patent number: 11430071
    Abstract: A method including operations to obtain a planned driving action for accomplishing a navigational goal of a host vehicle on a roadway, identify a planned trajectory for the host vehicle, corresponding to the planned driving action, identify, from sensor data representative of an environment of the host vehicle, an occluded location of a potential object that is occluded from view of the host vehicle, identify a possible trajectory of the potential object, based on possible movement of the potential object from the location into the roadway, identify an intersection of the planned trajectory for the host vehicle with the possible trajectory for the potential object, determine a safety action of the host vehicle to respond to the possible movement of the potential object, and apply the safety action to change the planned driving action of the host vehicle.
    Type: Grant
    Filed: December 23, 2020
    Date of Patent: August 30, 2022
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventors: Shai Shalev-Shwartz, Amnon Shashua, Shaked Shammah
  • Patent number: 11427252
    Abstract: An automatic driving system that is mounted in a vehicle includes: an information acquiring device configured to acquire driving environment information indicating a driving environment of the vehicle; and a running control device configured to execute lane change control from a first lane to a second lane, and set a lane change time which is a time required for lane change The running control device is configured to set an initial value of the lane change time, determine whether a moving object having a highest degree of approach to the vehicle is present in the second lane, and change the initial value based on a relative position of the moving object with respect to the vehicle and a relative speed of the vehicle with respect to the moving object when it is determined that the moving object having the highest degree of approach is present in the second lane.
    Type: Grant
    Filed: June 13, 2019
    Date of Patent: August 30, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hiroki Fukuda, Shota Fujii, Kenichiro Aoki
  • Patent number: 11430227
    Abstract: A method determines one or more lanes of a road in an environment of a vehicle, by receiving a plurality of objects in the environment of the vehicle; receiving a plurality of trajectories of the plurality of objects in the environment of the vehicle; estimating a shape of a road based on the plurality of trajectories of the plurality of objects; and determining one or more lanes of the road using the estimated shape of the road and the plurality of objects and/or the plurality of trajectories of the plurality of objects.
    Type: Grant
    Filed: November 19, 2019
    Date of Patent: August 30, 2022
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventors: Orland Gonzalez, Josef Mehringer, Christoph Pietruska, Sebastian Rass
  • Patent number: 11423672
    Abstract: Embodiments are directed towards the interpretation of driver intent and communication of that intent with autonomous vehicles at a traffic intersection. A computing device that sits on the dashboard of a vehicle includes at least one camera, an output device, and circuitry. The computing device captures first images of the driver in the vehicle and second images of the traffic intersection. The computing device identifies another vehicle at or approaching the intersection based on an analysis of the second images. The computing device determines an attention direction and hand movement of the driver based on an analysis of the first images to determine a driving intent of the driver. The computing device provides information to the other vehicle indicating the driving intent of the driver. The computing device may also obtain the driving intent of the other vehicle and provide information to the driver indicating the other vehicle's intent.
    Type: Grant
    Filed: August 2, 2019
    Date of Patent: August 23, 2022
    Assignee: DISH NETWORK L.L.C.
    Inventors: Prakash Subramanian, Nicholas B. Newell, John C. Calef, III
  • Patent number: 11425551
    Abstract: A method of tracking at least one emergency service provider is disclosed. An electronic history is compiled that includes at least one identifier of a service provider, at least one identifier of an event to which the service provider responded, and GPS data identifying the geographic location of the service provider at each time interval within the duration of the event. A user interface within which is displayed a first identifier of a first event is generated to a display device. A selection of the event identifier is received from a user. In response to the selection of the identifier, an aerial view of a geographic region within which the first event took place is generated. At least one icon is displayed in the aerial view representing the service provider at the geographic location corresponding to at least one time interval during the event.
    Type: Grant
    Filed: May 17, 2021
    Date of Patent: August 23, 2022
    Assignee: NORCOM
    Inventor: Nathan Way
  • Patent number: 11420624
    Abstract: When there is a possibility of collision between a host vehicle and objects positioned in a detection region in front of the host vehicle, an ECU implements collision avoidance control for preventing the host vehicle from colliding with an object. The ECU detects the objects positioned in the detection region and judges whether, among the detected objects, there is an object that the host vehicle has overtaken and that is capable of moving within a prescribed range in the vehicle width direction of the host vehicle. If it is judged that the host vehicle is turning to the left or to the right after it has been judged that the host vehicle has overtaken an object, the actuation timing of the collision avoidance control is advanced.
    Type: Grant
    Filed: June 12, 2019
    Date of Patent: August 23, 2022
    Assignee: DENSO CORPORATION
    Inventor: Ryo Takaki
  • Patent number: 11417204
    Abstract: A vehicle identification method and system are provided. The method includes: identifying a first vehicle to be a second vehicle based on a first group of data and a second group of data, the first group of data representing information of the first vehicle obtained through at least one sensor, and the second group of data representing information received from the second vehicle through an inter-vehicle communication network. By the method, an identity of the first vehicle in the inter-vehicle communication network can be known, the first group of data may be used to check the accuracy of the second group of data, and the second vehicle may be still tracked even if it is out of sight of the at least one sensor.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: August 16, 2022
    Assignee: Harman International Industries, Incorporated
    Inventors: Guoxia Zhang, Qingshan Zhang
  • Patent number: 11417219
    Abstract: A method for a collision risk calculation includes: executing acquisition processing that includes acquiring travel information regarding a position and velocity of each of a first vessel and a second vessel; executing region calculation processing that includes calculating a region having a possibility of future collision between the first vessel and the second vessel from the travel information of each of the first vessel and the second vessel; and executing first risk calculation processing that includes calculating a first risk value based on a maneuvering amount used by the first vessel or the second vessel in order to avoid the region.
    Type: Grant
    Filed: October 2, 2019
    Date of Patent: August 16, 2022
    Assignee: Fujitsu Limited
    Inventors: Hiroko Suzuki, Takahiro Saito, Isamu Watanabe
  • Patent number: 11414841
    Abstract: Provided are a work point position computing section configured to compute the relative position of a work point set on a bucket with respect to an upper swing structure on the basis of posture information, a target surface setting section configured to set a target surface as a target of excavation work on the basis of design surface information, a primary operation determining section configured to determine which of operations of a boom and an arm is a primary operation as a main operation when the work point is moved along the target surface, and a recommended operation computing section configured to compute a recommended operation amount and a recommended operation direction of a secondary operation as another operation different from the primary operation in the operations of the boom and the arm according to an operation amount and an operation direction of the primary operation.
    Type: Grant
    Filed: December 5, 2017
    Date of Patent: August 16, 2022
    Assignee: HITACHI CONSTRUCTION MACHINERY CO., LTD.
    Inventors: Hidekazu Moriki, Hisami Nakano, Hiroshi Sakamoto
  • Patent number: 11415987
    Abstract: In a method for operating a vehicle, a planning map and a localization map are provided, the vehicle is localized on the localization map, a map corridor indicated in the planning map is selected based on the localization, a sensor corridor is ascertained using a sensor unit of the vehicle, and the map corridor is compared to the sensor corridor. Using a specified threshold value for a deviation between the map corridor and the sensor corridor, it is decided whether the map corridor and the sensor corridor are identical. The map corridor is utilized for operating the vehicle if the map corridor and the sensor corridor are identical, and the sensor corridor is utilized for operating the vehicle if the map corridor and the sensor corridor are not identical.
    Type: Grant
    Filed: December 3, 2019
    Date of Patent: August 16, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Carsten Hasberg, Philipp Rasp
  • Patent number: 11408739
    Abstract: Adjusting inconsistencies and inaccuracies in location perception, one or more computer processors identify data indicating a location of a computing device; detect a subsequent computing device within a threshold proximity to the computing device; receive data indicating a location of the subsequent computing device; determine a first location reliability score for the identified data indicating the location of a computing device and a second location reliability score for the received data indicating the location of the subsequent computing device; calculate one or more location corrective parameters for the computing device based, at least in part, on the identified data indicating the location of the computing device, the received data indicating the location of the subsequent computing device, the first location reliability score, and the second location reliability score; adjust the data indicating the location of the computing device based on the calculated one or more location corrective parameters.
    Type: Grant
    Filed: May 16, 2019
    Date of Patent: August 9, 2022
    Assignee: International Business Machines Corporation
    Inventors: Sanehiro Furuichi, Akira Saito, Hayato Uenohara, Satoshi Yokoyama
  • Patent number: 11409296
    Abstract: An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD is used to determine an occupancy map indicative of obstacles and their locations in the physical space. Obstacles may be static, variable, or dynamic. For example, walls are static, doors which open and close are variable, and people moving through the environment are dynamic. Regions in the occupancy map that the AMD has visited but which are shown by the occupancy map as containing obstacles are identified as being variable regions. To determine possible paths through the physical space during autonomous movement, the variable regions are considered to be unoccupied by obstacles and traversable. Information about how often the variable region transitions between traversable and impassible states may also be used to determine the possible paths.
    Type: Grant
    Filed: September 17, 2019
    Date of Patent: August 9, 2022
    Assignee: AMAZON TECHNOLOGIES, INC.
    Inventors: Chang Young Kim, Roger Robert Webster
  • Patent number: 11410545
    Abstract: A vehicle may determine that it is stopped and detect a perimeter-modification event predefined as correlating to a changed vehicle perimeter. The vehicle may further, responsive to the perimeter-modification event, define an expanded vehicle perimeter, larger than a perimeter predefined as representing the vehicle in travel. The perimeter expansion may be done in accordance with a predefined modification associated with the detected perimeter modification event. The vehicle may additionally wirelessly share the expanded vehicle perimeter with at least one other vehicle.
    Type: Grant
    Filed: July 19, 2019
    Date of Patent: August 9, 2022
    Assignee: Ford Global Technologies, LLC
    Inventor: David Michael Herman
  • Patent number: 11409298
    Abstract: According to a non-limiting example embodiment, a remote control device includes a display configured to display a risk map; an input interface configured to input a travel route for an object to move along; a computing device, including at least one processor, the computing device configured to: receive obstacle information detected as the object moves along an actual travel route based on the travel route, and receive route information of the actual travel route of the object; and reset the travel route inputted by the input interface to a reset travel route in real time based on a mission given to the object or a risk level in each of a safe area and a dangerous area displayed on the risk map.
    Type: Grant
    Filed: February 12, 2020
    Date of Patent: August 9, 2022
    Assignee: HANWHA DEFENSE CO., LTD.
    Inventors: Hee Seo Chae, Sang Woong Park, Min Hyeok Kwon
  • Patent number: 11408388
    Abstract: In a vehicular control apparatus, a minimum operating voltage of a first characteristic device is set to be lower than a minimum operating voltage of a second characteristic device. A supply voltage controller is provided between a controller and the second characteristic device to prevent an occurrence of a situation where a supply voltage of a device power supplied to the second characteristic device becomes less than an input voltage of a signal line of a control signal transmitted from the controller to the second characteristic device.
    Type: Grant
    Filed: April 12, 2021
    Date of Patent: August 9, 2022
    Assignee: DENSO CORPORATION
    Inventors: Daiki Yoshihara, Takashi Hashizume