Collision Avoidance Patents (Class 701/301)
  • Patent number: 11148711
    Abstract: A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.
    Type: Grant
    Filed: April 14, 2017
    Date of Patent: October 19, 2021
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Yuta Akamatsu, Masahiro Kobayashi, Yasuhisa Taira, Osamu Fukata, Ko Sato
  • Patent number: 11150650
    Abstract: An approach is provided for operating a vehicle using vulnerable road user data. The approach, for example, involves determining a road link on which the vehicle is traveling or expects to travel. The approach also involves querying a geographic database for a vulnerable road user attribute of the road link. The approach further involves providing a notification to activate or deactivate an autonomous driving mode of the vehicle, a vehicle sensor of the vehicle, or a combination thereof while the vehicle travels on the road link based on determining that the vulnerable road user attribute meets a threshold criterion.
    Type: Grant
    Filed: July 16, 2018
    Date of Patent: October 19, 2021
    Assignee: HERE Global B.V.
    Inventor: Leon Stenneth
  • Patent number: 11151886
    Abstract: A collision avoidance system includes an unmanned aerial vehicle (UAV), a UAV controller, and a safety data aggregator. The UAV includes a positional sensor, and is coupled to communicate positional data to the UAV controller, and receive commands from the UAV controller. The safety data aggregator is coupled to communicate with the UAV controller, wherein the safety data aggregator collects positional data from one or more UAV controllers, stores collected positional data in a safety data buffer, and extracts spatially relevant positional data in response to a request from the UAV controller.
    Type: Grant
    Filed: July 30, 2019
    Date of Patent: October 19, 2021
    Assignee: BOTLINK, LLC
    Inventor: Alexander J. Kube
  • Patent number: 11142191
    Abstract: In a driving support apparatus mounted in an own vehicle, an obstacle detector detects an obstacle present on a front side in a traveling lane. A rear vehicle detector detects a rear vehicle. An operation controller determines an avoiding operation by one of a lane change operation for changing to a lane adjacent to the traveling lane, a steering operation for steering in the traveling lane, and a braking operation for applying a brake in the traveling lane and controlling the own vehicle to perform the avoiding operation to avoid the obstacle. A collision estimator estimates presence or absence of a collision between the rear vehicle and the obstacle in a case in which the own vehicle performs the avoiding operation by one of the lane change operation and the steering operation. The operation controller determines the avoiding operation based on the estimated presence or absence of the collision.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: October 12, 2021
    Assignee: DENSO CORPORATION
    Inventor: Daisuke Takasao
  • Patent number: 11142194
    Abstract: The rise of the connected objects known as the “Internet of Things” (IoT) will rival past technological marvels. This application discloses an object control system (OCS) to control movement of an object in a smart environment. The object control system uses a virtualized shared database and a shared object management center to control the navigation and protection of moving and flying objects through an IoT network utilizing IoT devices. It also uses time of day to schedule activities of the moving, flying, stationary and fixed objects in the smart environment to allow all objects within object control system operate freely with no interference and collision.
    Type: Grant
    Filed: February 26, 2021
    Date of Patent: October 12, 2021
    Inventor: Kiomars Anvari
  • Patent number: 11142203
    Abstract: A computer is programmed to determine a trajectory of a first vehicle. The computer is programmed to determine whether a second vehicle blocks the trajectory. Upon such determination, the computer sends an instruction to the second vehicle to adjust the second vehicle speed. The computer is programmed to determine the instruction based on the determined trajectory of the first vehicle, a second vehicle location, and a second vehicle speed.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: October 12, 2021
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Jan Bremkens, Joseph Park, Lodewijk Wijffels
  • Patent number: 11138893
    Abstract: Provided are flight conflict resolution method and apparatus based on ultimatum game theory. The method includes: obtaining a first priority of a first aircraft and a second priority of a second aircraft when it is determined that a minimum distance between the first aircraft and the second aircraft within a preset time period is less than a preset distance; determining a first angle and a second angle of the first aircraft and a fourth angle and a fifth angle of the second aircraft according to the first priority, the second priority, and a preset limiting deflection angle; determining a third angle of the first aircraft and a sixth angle of the second aircraft; determining a first deflection angle of the first aircraft and a second deflection angle of the second aircraft according to the first and second priorities, the first, second, third, fourth, fifth and sixth angles.
    Type: Grant
    Filed: February 7, 2019
    Date of Patent: October 5, 2021
    Assignee: BEIHANG UNIVERSITY
    Inventors: Xianbin Cao, Wenbo Du, Yumeng Li, Biyue Li, Lei Zheng
  • Patent number: 11137254
    Abstract: A MEMS device includes: a base (substrate) having a support part and a fixed electrode (detection electrode); a movable member supported on the support part with a main surface facing the fixed electrode; and a lid joined to the base and forming an accommodation space in which the movable member is accommodated. The lid has an abutting part which faces, via a space, at least a part of an outer edge of the movable member accommodated in the accommodation space and regulates displacement in an in-plane direction of the main surface.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: October 5, 2021
    Inventor: Fumiya Ito
  • Patent number: 11137757
    Abstract: A system includes a processor configured to determine a driver identity. The processor is also configured to receive a request for a change to a driving mode and responsive to the request, enable or deny the driving mode based on mode-correlation to one of a predefined set of permissible driving modes pre-associated with the driver identity.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: October 5, 2021
    Assignee: Ford Global Technologies, LLC
    Inventors: Ryan Sikorski, Christian Edward Shaffer
  • Patent number: 11131772
    Abstract: Provided are a LiDAR device and a method of operating the LiDAR device. The LiDAR device includes a light-emitting unit configured to emit modulated light onto an object, a light-receiving unit configured to receive the modulated light reflected by the object, a computation unit configured to calculate a distance to the object based on a reception signal of the modulated light provided by the light-receiving unit, a modulation unit configured to provide a modulation signal to the light-emitting unit to generate the modulated light, and a controller configured to control operations of at least one of the light-emitting unit, the light-receiving unit, the computation unit, and the modulation unit.
    Type: Grant
    Filed: January 12, 2018
    Date of Patent: September 28, 2021
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Heesun Yoon, Jungwoo Kim, Tatsuhiro Otsuka, Inoh Hwang
  • Patent number: 11132065
    Abstract: This document describes apparatuses and techniques for radar-enabled sensor fusion. In some aspects, a radar field is provided and reflection signals that correspond to a target in the radar field are received. The reflection signals are transformed to provide radar data, from which a radar feature indicating a physical characteristic of the target is extracted. Based on the radar features, a sensor is activated to provide supplemental sensor data associated with the physical characteristic. The radar feature is then augmented with the supplemental sensor data to enhance the radar feature, such as by increasing an accuracy or resolution of the radar feature. By so doing, performance of sensor-based applications, which rely on the enhanced radar features, can be improved.
    Type: Grant
    Filed: July 3, 2019
    Date of Patent: September 28, 2021
    Assignee: Google LLC
    Inventors: Nicholas Edward Gillian, Carsten C. Schwesig, Jaime Lien, Patrick M. Amihood, Ivan Poupyrev
  • Patent number: 11124141
    Abstract: A vehicle occupant protection device includes: a seat belt device having a selectable force limiter that is configured to switch a force limiter load from a high load to a low load; an airbag device that deploys an airbag in front of the occupant; a movement direction detector that detects a direction in which a head region of the occupant will move relative to the vehicle at the time of frontal collision; an initial position detector that detects a position of the head region prior to the movement; and a control unit that makes a determination whether or not the head region will move outside of an area of protection by the airbag based on detection results of the movement direction detector and the initial position detector and, in a case in which the determination is affirmative, maintains the high load of the force limiter load.
    Type: Grant
    Filed: January 8, 2020
    Date of Patent: September 21, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hideaki Ohka, Yusuke Mase, Takashi Fujinami
  • Patent number: 11124184
    Abstract: A vehicle and a method for the vehicle to detect a vehicle accident are provided. The method includes accessing at least one accident profile, wherein each accident profile contains information describing, for vehicles involved in a vehicle accident, data indicating vehicle operating parameters during the accident; collecting, in real time, data from the vehicle and at least one nearby vehicle, the data describing current vehicle operating parameters for the vehicles; comparing the data collected in real time with the at least one accident profile to determine a probability of a vehicle crash; and implementing preventive action responsive to the probability of a vehicle crash exceeds a probability threshold.
    Type: Grant
    Filed: November 9, 2018
    Date of Patent: September 21, 2021
    Assignee: TOYOTA MOTOR NORTH AMERICA, INC.
    Inventor: Emily Lerner
  • Patent number: 11124182
    Abstract: A surroundings monitoring apparatus obtains the position of an object from a captured image of a region in a heading direction of a vehicle, and obtains a position obtainment accuracy. When the distance between the object and the vehicle becomes relatively short, the position obtainment accuracy increases. However, the distance between the object and the vehicle becomes shorter, the position obtainment accuracy may decrease. Therefore, if collision avoidance control is performed for an object selected on the basis of the position obtainment accuracy, there is a possibility that the collision avoidance control is not performed for an object which is most likely to collide with the vehicle. In view of this, the apparatus obtains, for each object, a required deceleration which is the magnitude of acceleration necessary for stoppage at a position before the object, and performs the collision avoidance control for an object which is the largest in the required deceleration.
    Type: Grant
    Filed: July 16, 2018
    Date of Patent: September 21, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Toshihiro Takagi, Yuki Minase
  • Patent number: 11125872
    Abstract: A method for estimating a velocity of a target using a host vehicle equipped with a radar system includes determining a plurality of radar detection points, determining a compensated range rate, and determining an estimation of a first component of a velocity profile equation of the target and an estimation of a second component of the velocity profile equation of the target by using an iterative methodology comprising at least one iteration. The estimations and of the first and second components and of the velocity profile equation are not determined from a further iteration if at least one statistical measure representing the deviation of an estimated dispersion of the estimations and of the first and second components, and of a current iteration from a previous iteration and/or the deviation of an estimated dispersion of the residual from a predefined dispersion of the range rate meets a threshold condition.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: September 21, 2021
    Assignee: Aptiv Technologies Limited
    Inventors: Mateusz Stachnik, Krzysztof Kogut, Maciej Rozewicz
  • Patent number: 11117471
    Abstract: An improved system for preventing collisions between movers while improving throughput in a linear drive system utilizes a continually variable vehicle length for each mover. A vehicle length is assigned to each mover, where the vehicle length is a minimum track length required by the vehicle to avoid physically contacting a neighboring vehicle along the track. The vehicle length for each mover is then determined for each location along the track based on both the track geometry and the mover geometry. The vehicle length is continually variable along the length of the track allowing movers to be positioned as close together as possible for each location along the track based on both the track geometry and the mover geometry. The continually variable vehicle length provides collision prevention between movers while increasing throughput of movers along segments of the track that do not require the largest spacing between movers.
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: September 14, 2021
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Yuhong Huang, Brian M. Perreault
  • Patent number: 11117580
    Abstract: Disclosed are a method for recognizing whether an Adaptive Cruise Control (ACC) system operates abnormally based on information on a turn-on state of a brake lamp of a preceding vehicle, and a vehicle terminal therefor. One or more of a vehicle, a vehicle terminal, and an autonomous vehicle disclosed in the present invention may work in conjunction with Artificial Intelligence (AI), Unmanned Aerial Vehicle (UAV), a robot, an Augmented Reality (AR) device, a Virtual Reality (VR) device, a 5G service related device, etc.
    Type: Grant
    Filed: August 27, 2019
    Date of Patent: September 14, 2021
    Assignee: LG Electronics Inc.
    Inventors: Taekyung Lee, Hyeonju Bae, Sangyol Yoon
  • Patent number: 11117559
    Abstract: An object of the invention is to realize an M+ control which is suitable to a driving scene without depending on pedal operation information of a driver. A vehicle motion control device according to the invention sets an absolute value of deceleration generated in the vehicle in a period in which the lateral motion of the vehicle is predicted to be changed from a state where the vehicle takes the lateral motion to a state where the vehicle does not take the lateral motion to be smaller than that generated in a period in which the lateral motion of the vehicle is predicted to be changed from a state the vehicle takes one of right and left lateral motions to a state where the vehicle takes the other lateral motion.
    Type: Grant
    Filed: August 22, 2017
    Date of Patent: September 14, 2021
    Assignee: Hitachi Automotive Systems, Ltd.
    Inventors: Junya Takahashi, Yuki Akiyama, Masamichi Imamura
  • Patent number: 11117049
    Abstract: A computer cockpit for interacting with a user includes a front camera, a back camera, a display device, a microprocessor, a chair, and a controller. The front camera or the back camera captures an image of the user. The display device generates a display image according to the image. The microprocessor analyzes the display image on the display device, so as to obtain height information of the user. The microprocessor generates a first control signal according to the height information. The chair includes a cushion and a backrest connected to the cushion. The controller adjusts a first tilt angle of the backrest according to the first control signal.
    Type: Grant
    Filed: March 29, 2019
    Date of Patent: September 14, 2021
    Assignee: ACER INCORPORATED
    Inventors: Chen-Chih Hou, Chun-Chih Kuo, An-Cheng Lee
  • Patent number: 11110932
    Abstract: Embodiments described herein disclose methods and systems for discrete mobile object monitoring. Using location and information from the recognition process, historical action information about a discrete mobile object, and associated object statistical information derived from the historical action information, a hypothesis can be generated for future actions and movements of the discrete mobile object. The information can then be stored for later hypothesis derivation, thus providing a more human-like understanding of the discrete mobile object, useful in a variety of automated tasks.
    Type: Grant
    Filed: November 3, 2017
    Date of Patent: September 7, 2021
    Assignee: Toyota Research Institute, Inc.
    Inventor: Jens Strabo Hummelshøj
  • Patent number: 11110921
    Abstract: A driver assistance system in a motor vehicle has a detection system for identifying events ahead that, on account of a currently valid speed limit being lifted, allow the current speed to be increased, and a functional unit for ascertaining an at least two-stage acceleration strategy for increasing the speed, wherein the first stage of the acceleration strategy can be implemented at most up to the location of the event ahead and the second stage of the acceleration strategy can be implemented at the earliest starting from the location of the event ahead. The implementation is started at a defined time and/or location before the event ahead is reached if the implementation of the acceleration strategy is permitted. In the first stage of the two-stage acceleration strategy, the acceleration profile to be implemented is ascertained and/or prompted depending on an identified defined acceleration behavior of a relevant target object travelling ahead.
    Type: Grant
    Filed: February 5, 2019
    Date of Patent: September 7, 2021
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventors: Stefan Knoller, Andreas Lechner
  • Patent number: 11106223
    Abstract: An unmanned aerial vehicle (UAV) includes one or more processors, and a memory storing instructions. When executed by the one or more processors, the instructions cause the UAV to perform operations including: recognizing a first gesture of a hand; responsive to a recognition of the first gesture, moving the unmanned aerial vehicle to hover above the hand; detecting a distance between the unmanned aerial vehicle and the hand; responsive to a determination that the distance falls in a range, monitoring the hand to recognize a second gesture of the hand; and responsive to a recognition of the second gesture, landing the unmanned aerial vehicle on the hand.
    Type: Grant
    Filed: May 9, 2019
    Date of Patent: August 31, 2021
    Assignee: GEOSAT AEROSPACE & TECHNOLOGY
    Inventors: Cheng-Fang Lo, Yung-Chieh Huang, Chien-Ming Shao
  • Patent number: 11106988
    Abstract: This disclosure relates to systems and methods for determining predicted risk for a flight path of an unmanned aerial vehicle. A previously stored three-dimensional representation of a user-selected location may be obtained. The three-dimensional representation may be derived from depth maps of the user-selected location generated during previous unmanned aerial vehicle flights. The three-dimensional representation may reflect a presence of objects and object existence accuracies for the individual objects. The object existence accuracies for the individual objects may provide information about accuracy of existence of the individual objects within the user-selected location. A user-created flight path may be obtained for a future unmanned aerial flight within the three-dimensional representation of the user-selected location. Predicted risk may be determined for individual portions of the user-created flight path based upon the three-dimensional representation of the user-selected location.
    Type: Grant
    Filed: October 6, 2016
    Date of Patent: August 31, 2021
    Assignee: GoPro, Inc.
    Inventors: Pascal Gohl, Sammy Omari
  • Patent number: 11100340
    Abstract: A line detector apparatus and method on a vehicle for detecting a line on a road with a higher degree of accuracy. The vehicle includes front, right-side and left-side image capturing sensors mounted on a vehicle and respectively capture an image, including a road surface, at the front and right and left sides of the vehicle to respectively generate front, right-side and left-side images. The line detector includes a processor that calculates a line on a road as a first line from the front image, the line on the road as a second line from the right-side image, and the line on the road as a third line from the left-side image. The processor selects one of multiple mutually-different algorithms based on the first to third lines, and calculates the line on the road based on the first to third lines by using the selected algorithm.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: August 24, 2021
    Assignee: MAZDA MOTOR CORPORATION
    Inventors: Junki Tamaru, Takayuki Moritani, Hiroyuki Ueda, Hideaki Tamazumi, Yoshihiro Yamamoto
  • Patent number: 11091161
    Abstract: An apparatus for controlling a lane change of an autonomous vehicle and a method thereof. The apparatus includes a learning device that performs deep learning by subdividing situation information into groups to be considered when the autonomous vehicle changes a lane, and a controller that controls the lane change of the autonomous vehicle based on a learning result of the learning device.
    Type: Grant
    Filed: April 20, 2020
    Date of Patent: August 17, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventor: Tae Dong Oh
  • Patent number: 11092458
    Abstract: A navigation system includes: a control unit configured to: identify a route obstacle in a travel environment of a user vehicle during operation of the user vehicle in an autonomous operation mode; generate an obstacle handling assessment of whether the user vehicle is capable of navigation beyond the route obstacle in the autonomous operation mode; generate an obstacle orientation alert based on the obstacle handling assessment and an engagement state of a system user of the user vehicle; a user interface, coupled to the control unit, configured to present the obstacle orientation alert.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: August 17, 2021
    Assignee: Telenav, Inc.
    Inventors: Gregory Stewart Aist, Casey Thomas Carter, Shalu Grover
  • Patent number: 11094210
    Abstract: A system includes a camera mounted on an aircraft, one or more processors, and computer readable memory, for determining a location of an aircraft relative to fiducial markings of airport byways. The method includes the steps of capturing, by a camera disposed on the aircraft, a time-sequence of images of a scene external to the aircraft, wherein the scene includes the byways and the fiducial markings; identifying, by image processing circuitry, pixel coordinates within each of the time sequence of captured images corresponding to the fiducial markings; and determining, by the image processing circuitry, the location of the aircraft relative to the fiducial markings based on the identified pixel coordinates.
    Type: Grant
    Filed: May 9, 2018
    Date of Patent: August 17, 2021
    Assignee: SIMMONDS PRECISION PRODUCTS, INC.
    Inventor: Joseph T. Pesik
  • Patent number: 11091157
    Abstract: A method for ascertaining an expected contour of a mobile or stationary device for avoiding collisions, using at least one control unit that is internal external to the device includes: obtaining a movement trajectory of the device, which contains probability densities based on state estimation, at least based on expected values and covariances; obtaining a base polyhedron and an approximate contour of the device having a limited number of corners, a confidence interval within which a collision with the static and dynamic surroundings of the device is to be avoided being defined; transforming the base polyhedron to the at least one probability density of the movement trajectory that describes the state estimation; and, for each corner of the transformed base polyhedron, computing a transformed device contour, and ascertaining the expected contour of the device with inclusion of all transformed device contours.
    Type: Grant
    Filed: May 2, 2019
    Date of Patent: August 17, 2021
    Assignee: Robert Bosch GmbH
    Inventors: Holger Andreas Banzhaf, Maxim Dolgov
  • Patent number: 11093829
    Abstract: Interaction-aware decision making may include training a first agent based on a first policy gradient, training a first critic based on a first loss function to learn goals in a single-agent environment using a Markov decision process, training a number N of agents based on the first policy gradient, training a second policy gradient and a second critic based on the first loss function and a second loss function to learn goals in a multi-agent environment using a Markov game to instantiate a second agent neural network, and generating an interaction-aware decision making network policy based on the first agent neural network and the second agent neural network. The N number of agents may be associated with a driver type indicative of a level of cooperation. When a collision occurs, a negative reward or penalty may be assigned to each agent involved based on a lane priority level of respective agents.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: August 17, 2021
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yeping Hu, Alireza Nakhaei Sarvedani, Masayoshi Tomizuka, Kikuo Fujimura
  • Patent number: 11087632
    Abstract: A machine learning engine may correlate characteristics of obstacles identified during remotely piloted UAV flights with manual course deviations performed for obstacle avoidance. An obstacle detection application may access computer vision footage to determine notable characteristics (e.g. a direction of travel and/or velocity) of obstacles identified during the piloted UAV flights. A deviation characteristics application may access flight path information identify course deviations performed by a pilot in response to the obstacles. A machine learning engine may use the obstacle characteristic data and the deviation characteristics data as training data to generate an optimal course deviation model to use by an autopilot module to autonomously avoid obstacles during autonomous UAV flights.
    Type: Grant
    Filed: May 27, 2020
    Date of Patent: August 10, 2021
    Assignee: Amazon Technologies, Inc.
    Inventor: Pradeep Krishna Yarlagadda
  • Patent number: 11084492
    Abstract: An automated driving assist apparatus includes a traffic information acquirer, a traffic congestion determiner, a distance comparator, a lane-change start determiner, and a lane-change controller. When the traffic congestion determiner determines that a passing lane adjacent to a lane regulation zone is congested, the distance comparator calculates a distance to the lane regulation zone and an estimated distance to a traffic queue based on road traffic information acquired by the traffic information acquirer, and compares the distance to the lane regulation zone with the estimated distance to the traffic queue. When the distance to the lane regulation zone is longer than the estimated distance to the traffic queue, the lane-change start determiner determines whether the estimated distance to the traffic queue reaches a lane-change start distance. When the estimated distance to the traffic queue reaches the lane-change start distance, the lane-change controller causes the own vehicle to change lanes.
    Type: Grant
    Filed: June 7, 2019
    Date of Patent: August 10, 2021
    Assignee: SUBARU CORPORATION
    Inventor: Masato Mizoguchi
  • Patent number: 11079764
    Abstract: In various examples, a current claimed set of points representative of a volume in an environment occupied by a vehicle at a time may be determined. A vehicle-occupied trajectory and at least one object-occupied trajectory may be generated at the time. An intersection between the vehicle-occupied trajectory and an object-occupied trajectory may be determined based at least in part on comparing the vehicle-occupied trajectory to the object-occupied trajectory. Based on the intersection, the vehicle may then execute the first safety procedure or an alternative procedure that, when implemented by the vehicle when the object implements the second safety procedure, is determined to have a lesser likelihood of incurring a collision between the vehicle and the object than the first safety procedure.
    Type: Grant
    Filed: February 1, 2019
    Date of Patent: August 3, 2021
    Assignee: NVIDIA Corporation
    Inventors: David Nister, Hon-Leung Lee, Julia Ng, Yizhou Wang
  • Patent number: 11077756
    Abstract: Various aspects of this disclosure provide an area occupancy determining device. The device may include a memory configured to store at least one occupancy grid of a predetermined region, and a processor. The processor may be configured to generate the occupancy grid of the predetermined region. The occupancy grid includes a plurality of grid cells, each grid cell framed by respective grid cell frame lines. At least some of the grid cells have been assigned an information about the occupancy of the region represented by the respective grid cell. The processor may further be configured to dynamically update the occupancy grid, thereby successively generating a plurality of updated occupancy grids. Each updated occupancy grid is moved relative to the previous occupancy grid such that an origin coordinate of the updated occupancy grid is positioned on a contact point of grid cell frame lines of adjacent grid cells.
    Type: Grant
    Filed: November 23, 2017
    Date of Patent: August 3, 2021
    Assignee: Intel Corporation
    Inventors: Koba Natroshvili, Kay-Ulrich Scholl
  • Patent number: 11077846
    Abstract: An autonomous vehicle is described, wherein the autonomous vehicle is configured to estimate a change in direction of a vehicle that is on a roadway and is proximate to the autonomous vehicle. The autonomous vehicle has a mechanical system, one or more sensors that generate one or more sensor signals, and a computing system in communication with the mechanical system and the one or more sensors. The autonomous vehicle is configured to detect an imminent lane change by another vehicle based on at least one of a computed angle between a wheel of the other vehicle and a longitudinal direction of travel of the other vehicle, a degree of misalignment between the wheel of the other vehicle and a body of the other vehicle, and/or an eccentricity of the wheel of the other vehicle. The mechanical system of the autonomous vehicle is controlled by the computing system based upon the detected imminent lane change.
    Type: Grant
    Filed: March 31, 2019
    Date of Patent: August 3, 2021
    Assignee: GM CRUISE HOLDINGS LLC
    Inventors: Christopher Ward, Ted Nitz, Curt Harrington, Christopher Daily-Diamond
  • Patent number: 11077854
    Abstract: An apparatus for controlling a lane change of a vehicle may include: a processor determining whether a condition of interrupting a lane change procedure occurs, during controlling the lane change. In particular, when the condition of interrupting the lane change procedure is satisfied, the processor determines whether to interrupt the lane change procedure or whether to return the vehicle to an original lane to control the vehicle depending on a result of the determinations. The apparatus further includes a storage to store the result determined by the processor.
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: August 3, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Doo Jin Um, Hoi Won Kim, Beom Jun Kim, Dae Young Kim, Chan Il Park, Jin Su Jeong, Dong Eon Oh
  • Patent number: 11081007
    Abstract: There are provided a road shape predictor predicts the shape of a road, based on positional information pieces, on other vehicles existing in the vicinity of a reference vehicle, that are obtained from the communicator and a road shape prediction priority determiner that determines the priorities of areas in the vicinity of the reference vehicle in the case where the road shape predictor predicts the shape of the road for the predicted route of the reference vehicle.
    Type: Grant
    Filed: December 7, 2017
    Date of Patent: August 3, 2021
    Assignee: Mitsubishi Electric Corporation
    Inventor: Keisuke Morita
  • Patent number: 11073400
    Abstract: A method for receiving autonomous vehicle (AV) map data associated with an AV map of a geographic location and coverage map data associated with a coverage map of the geographic location. The AV map data is associated with an AV lane of a roadway in the geographic location, and the coverage map data is associated with a coverage lane of the roadway in the geographic location. The method includes generating a hybrid map of the geographic location based on the AV map data and the coverage map data and providing hybrid map data associated with the hybrid map for routing of an AV. The hybrid map includes the AV lane linked with the coverage lane of the roadway.
    Type: Grant
    Filed: February 23, 2018
    Date of Patent: July 27, 2021
    Assignee: UATC, LLC
    Inventors: Gordon Peter Bailey, Bryan John Nagy, Adam Henry Polk Milstein, Robert Michael Zlot, Adam Cole Panzica, Brett Bavar, David Peter Prasser, Peter Ian Hansen, Ethan Duff Eade, Xxx Xinjilefu, Brett Browning
  • Patent number: 11073619
    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).
    Type: Grant
    Filed: February 2, 2021
    Date of Patent: July 27, 2021
    Assignee: APEX.AI, INC.
    Inventor: Christopher Ho
  • Patent number: 11072348
    Abstract: A driving assist device includes a control unit configured to acquire event position information that is position information about a vehicle when it is detected that a driver of the vehicle is in a looking aside state in the vehicle, as an event, and configured to present attention information calling for attention, to a driver who is driving toward a position indicated by the event position information.
    Type: Grant
    Filed: December 12, 2019
    Date of Patent: July 27, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takuro Yanagi, Maki Tamura, Mutsumi Matsuura, Toshihiko Inoue, Naoki Yamamuro, Takashi Hayashi, Takahiro Shiga
  • Patent number: 11072417
    Abstract: In order to provide an unmanned aircraft capable of minimizing damage due to a crash caused by malfunction or the like during flight, a flight route is set on map information including a fall avoidance area, control is performed such that the aircraft flies on a set flight route, and information at each position during flight on the flight route is acquired in relation to the map information in real time to determine whether or not the aircraft is approaching the fall avoidance area. In a case where it is determined that the aircraft is approaching the fall avoidance area, control is performed so as to increase a flight speed.
    Type: Grant
    Filed: November 30, 2016
    Date of Patent: July 27, 2021
    Assignee: PRODRONE CO., LTD
    Inventor: Kazuo Ichihara
  • Patent number: 11069015
    Abstract: A method is disclosed. A data set including: (a) identifiers of a set of incidents occurring within a defined geographic region to which at least one service provider responded during a first time period and (b) address data identifying a location within the geographic region of each said incident of the set is retrieved over a network. An instruction to generate a heat map of the incidents occurring within the geographic region during the first time period is received from a user via a user interface generated to a display device. In response to the instruction to generate the heat map, the address data is converted to GPS data. A heat map of an aerial view of the geographic region based on the GPS data is generated. The heat map is displayed to the display device in a user interface.
    Type: Grant
    Filed: August 31, 2020
    Date of Patent: July 20, 2021
    Assignee: NORCOM
    Inventors: Nathan Way, Ron Tiedeman
  • Patent number: 11067686
    Abstract: Aspects of the disclosure are directed towards obstacle position and extent measurement. In accordance with one aspect, obstacle detection includes creating one or more interferometric measurements to generate a flow of response position locations using a flow of range/Doppler detections by fitting a parametric expression; and deriving one or more scatterer positions and obstacle position and extent measurements from the flow of response position locations.
    Type: Grant
    Filed: December 1, 2018
    Date of Patent: July 20, 2021
    Assignee: Electromagnetic Systems, Inc.
    Inventors: Stephen Jeffrey Hershkowitz, Brian Michael Lamb
  • Patent number: 11069242
    Abstract: A traveling assistance method acquires driving characteristics of another vehicle around a host vehicle, determines whether the other vehicle is in an autonomous driving mode depending on the driving characteristics of the other vehicle, and detects an action of the other vehicle in accordance with the determination result of whether the other vehicle is in the autonomous driving mode.
    Type: Grant
    Filed: May 24, 2017
    Date of Patent: July 20, 2021
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Takuya Nanri, Fang Fang, Shoichi Takei
  • Patent number: 11059479
    Abstract: A collision avoidance apparatus including: a first detector configured to detect another vehicle information including a longitudinal velocity and a lateral velocity of another vehicle, and distance information including a longitudinal distance and a lateral distance from another vehicle; a second detector configured to detect subject vehicle information including a velocity and a yaw rate of the subject vehicle; a calculator configured to determine whether steering avoidance is executable, on the basis of the another vehicle information, the subject vehicle information, and the distance information, and when steering avoidance is executable, calculate steering avoidance information on steering avoidance of the subject vehicle; and a control unit configured to control the subject vehicle to travel according to the steering avoidance information.
    Type: Grant
    Filed: December 16, 2019
    Date of Patent: July 13, 2021
    Assignee: MANDO CORPORATION
    Inventor: MinGyu Kim
  • Patent number: 11059485
    Abstract: A method and an apparatus for lane selection are provided. In the disclosed method that is implemented by the apparatus, a decision model used for a lane change selection is obtained based on a first model configured to decide a junction lane change and a second model configured to decide a travelling speed. In addition, travelling information of a target vehicle and target information related to the target vehicle is acquired in real time. The target information is configured to represent travelling information of one or more vehicles around the target vehicle. A target lane is subsequently defined based on the decision model, the target information related to the target vehicle and the travelling information of the target vehicle that is acquired in real time.
    Type: Grant
    Filed: July 2, 2019
    Date of Patent: July 13, 2021
    Assignee: TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
    Inventor: Bin Wang
  • Patent number: 11061122
    Abstract: Embodiments of the disclosure provide methods and systems for acquiring map data. The system may include a mounting structure configured to adjustably mount a sensor to a vehicle. The sensor may be configured to capture data indicative of at least one surrounding object as the vehicle travels along a path. The system may further include a controller configured to dynamically determine a mounting angle based on the captured data, and cause the mounting structure to adjust the sensor according to the dynamically determined mounting angle.
    Type: Grant
    Filed: December 29, 2018
    Date of Patent: July 13, 2021
    Assignee: Beijing DiDi Infinity Technology and Development Co., Ltd.
    Inventor: Teng Ma
  • Patent number: 11061130
    Abstract: A radar apparatus includes: a detection portion that transmits a radio wave to a target and receives a radio wave reflected on the target so as to detect instantaneous data; and an allocation portion that allocates the instantaneous data to prediction data of the target so as to take continuity of the target; and the allocation portion corrects velocity of the instantaneous data and velocity of the prediction data respectively as velocities made in line with a predetermined direction set as a reference, so as to allocate the instantaneous data to the prediction data based on at least magnitudes of the respectively corrected velocities.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: July 13, 2021
    Assignee: DENSO TEN Limited
    Inventors: Seiya Fujitsu, Shinya Aoki
  • Patent number: 11059421
    Abstract: The systems and methods disclosed herein are directed to a vehicle proximity system. The vehicle proximity system uses sensors, a vehicle computing device, and a heads-up display of a host vehicle to present proximity graphic elements to a vehicle occupant, such as the driver of the host vehicle. The proximity graphic elements are displayed using a heads-up display and are projected on a transparent surface of the host vehicle, such as the windows, windshield, display screen, lenses, etc. The proximity graphic elements indicate the presence of a proximal vehicle to the host vehicle. In some embodiments, the proximal vehicle is a vehicle passing the host vehicle. Alternatively, the proximal vehicle may be inline with the host vehicle traveling in a forward or rearward direction.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: July 13, 2021
    Assignee: Honda Motor Co., Ltd.
    Inventor: Maxim Ostapenko
  • Patent number: 11060873
    Abstract: Techniques are described for configuring a monitoring system to assist users during a detected emergency condition at a property. In some implementations, sensor data from one or more sensors that are located at the property are obtained by a monitoring system that is configured to monitor the property. A determination that there is an emergency condition at the property is made by the monitoring system based on the sensor data, determining. A location of a person inside the property is determined by the monitoring system based on the sensor data. A first path to the person and a second path to guide the person away from the emergency condition are determined by the monitoring system. The first path to the person and the second path to guide the person away from the emergency condition are navigated by a computing device of the monitoring system.
    Type: Grant
    Filed: May 15, 2020
    Date of Patent: July 13, 2021
    Assignee: Alarm.com Incorporated
    Inventor: Babak Rezvani
  • Patent number: 11062595
    Abstract: The present disclosure includes using cognitive data analytics for communication between vehicular devices using a 5G (fifth generation cellular network technology) telecommunications network. In a defined area, using an Internet of Things (IoT) enabled device in a first vehicle traveling in a direction, the present disclosure detects a second vehicle traveling in another direction in the defined area. Data is collected in the defined area using the detected IoT devices in the first and second vehicles. The collected data is analyzed to provide content data related to driving conditions for the first and second vehicles. The content data is exchanged between the IoT devices of the first vehicle and the second vehicle in the defined area, thereby providing real-time information related to the driving conditions to a vehicle traveling in another direction, and the exchanging of the content data, using the service orchestration layer of the 5G telecommunications network.
    Type: Grant
    Filed: March 13, 2020
    Date of Patent: July 13, 2021
    Assignee: International Business Machines Corporation
    Inventors: Craig M. Trim, Lakisha R. S. Hall, Gandhi Sivakumar, Kushal Patel, Sarvesh S. Patel