Collision Avoidance Patents (Class 701/301)
  • Patent number: 10810877
    Abstract: A vehicle control device includes: a center line detecting unit, an oncoming vehicle detecting unit, a predicted time deriving unit, and a control target oncoming vehicle selecting unit. The center line detecting unit detects a center line separating a travel lane where a host vehicle travels from an opposite lane where an oncoming vehicle travels. The oncoming vehicle detecting unit detects the oncoming vehicle. The predicted time deriving unit derives a collision predicted time that elapses before the host vehicle collides with the oncoming vehicle. The control target oncoming vehicle selecting unit selects the oncoming vehicle having the shortest collision predicted time as a control target oncoming vehicle for which collision with the host vehicle is avoided among oncoming vehicles when determining that the plurality of the oncoming vehicles is present in an area adjacent to in the opposite lane and within a predetermined distance from the center line.
    Type: Grant
    Filed: May 15, 2018
    Date of Patent: October 20, 2020
    Assignee: SUBARU CORPORATION
    Inventor: Yuta Fukunaga
  • Patent number: 10807594
    Abstract: A vehicle control device includes: an automatic driving control unit performing automatic driving control of automatically controlling one or both of acceleration/deceleration and steering of a subject vehicle such that the subject vehicle runs along a route to a destination; an avoidance target object detecting unit detecting an avoidance target object that is a target object to be avoided in the vicinity of the subject vehicle; and an avoidance control unit performing an avoidance operation by executing avoidance control of automatically controlling one or both of the acceleration/deceleration and the steering of the subject vehicle with a priority with respect to the automatic driving control in a case in which approach of the subject vehicle to the detected avoidance target object within a predetermined range is detected, and the automatic driving control unit ends the automatic driving control in a case in which the avoidance operation is executed.
    Type: Grant
    Filed: March 7, 2016
    Date of Patent: October 20, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Kunimichi Hatano
  • Patent number: 10807641
    Abstract: The invention relates to a method for interactively controlling the automatic parking of a motor vehicle (10) in a parking space (50) by means of a mobile terminal (30), involving the following steps: selection by the user of an automatic parking mode of the motor vehicle, and —automatic parking of the motor vehicle during the course of which the vehicle computer (21) controls the orientation of the wheels (13) and the power train (14) of the motor vehicle. According to the invention, each piece of information emitted by the obstacle detection assistance means (25, 26) fitted to the motor vehicle is transmitted to the mobile terminal in order to signal the possible presence of an obstacle (60) to a user located outside of the motor vehicle.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: October 20, 2020
    Assignee: VALEO COMFORT AND DRIVING ASSISTANCE
    Inventor: Frederic Gehin
  • Patent number: 10807592
    Abstract: A method includes: receiving, by a computing device, object data regarding a first object detected by a first vehicle, the object data including an object type and a location; storing the object data; generating, based on the object data, navigation data; and sending the navigation data to a second vehicle, the navigation data for use by the second vehicle to control navigation.
    Type: Grant
    Filed: June 18, 2018
    Date of Patent: October 20, 2020
    Assignee: Micron Technology, Inc.
    Inventor: Gil Golov
  • Patent number: 10800406
    Abstract: A mining machine includes a traveling device traveling a traveling path in a mine, a vehicle body supported by the traveling device, a non-contact sensor in a front section of the vehicle body which contactlessly detects an object in a detection area, and is arranged such that the traveling path in front of the vehicle body and an area beside the traveling path are included in the detection area, an obstacle detector detecting an obstacle in the traveling path in front of the vehicle body based on an output signal of the non-contact sensor, a distance detector a distance to a wall beside the traveling path based on an output signal of the non-contact sensor, and a traveling controller controlling the traveling device based on a detection result of at least one of the obstacle detection unit and the distance detection unit.
    Type: Grant
    Filed: December 26, 2014
    Date of Patent: October 13, 2020
    Assignee: Komatsu Ltd.
    Inventors: Katsuki Awamori, Tomikazu Tanuki
  • Patent number: 10802135
    Abstract: A method and apparatus for generating an image from raw sensor data. In one embodiment, the method comprises reading the raw sensor data from a sensor, the raw sensor data taken from a sensor at a sensor inertial state, generating an estimate of the sensor inertial state, retaining the raw sensor data while performing steps comprising: generating an image, the image generated at least in part from the estimated sensor inertial state and the raw sensor data and generating an updated estimate of the sensor inertial state, the updated estimate of the sensor inertial state generated at least in part from the generated image and the estimated sensor inertial state. Finally, an enhanced image is generated from the retained raw sensor data and the updated estimate of the sensor inertial state.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: October 13, 2020
    Assignee: THE BOEING COMPANY
    Inventor: Daniel T. Phillips
  • Patent number: 10802126
    Abstract: An electronic device including a sound receiver and a processor is provided. The sound receiver receives a sound signal provided by a sound generator. When the processor determines that an obstacle is blocked between the electronic device and the fixed device, the processor estimates a virtual position of the electronic device at a current time according to previous movement information and a previous position of the electronic device. The virtual position has a shortest path between a boundary position of the obstacle and the sound generator. The processor obtains a first relative distance between the electronic device and the boundary position according to the sound signal received by the sound receiver and the boundary position. The processor calculates a relative velocity and a relative acceleration of the electronic device relative to the fixed device at the current time according to the sound signal and the first relative distance.
    Type: Grant
    Filed: May 21, 2018
    Date of Patent: October 13, 2020
    Assignee: Acer Incorporated
    Inventors: Po-Jen Tu, Jia-Ren Chang, Kai-Meng Tzeng, Wen-Cheng Hsu, Hsing-Chu Wu
  • Patent number: 10793147
    Abstract: A radar ECU 13 gives priorities based on predicted collision times TTC and priorities based on relative distances D to all moving objects (S13), and selects 4 (four) moving objects in ascending order of the predicted collision times TTC (S14). The radar ECU 13 selects 5 (five) in ascending order of the relative distances D among the moving objects other than the moving object selected at S14 (S15). The radar ECU 13 transmits object information on the moving objects selected at S13 and S14 to a driving support ECU 20 (S16). The driving support ECU 20 performs various driving support controls based on the transmitted object information.
    Type: Grant
    Filed: September 18, 2018
    Date of Patent: October 6, 2020
    Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, Continental Automotive GmbH
    Inventors: Takuya Kaminade, Koji Takeuchi, Atsushi Kido
  • Patent number: 10793148
    Abstract: An apparatus for controlling driving of a vehicle is provided. The apparatus includes: a sensor to sense an environment outside of the vehicle, a positioning device to measure a current position of the vehicle, and a controller to calculate a first weighted time to collision with another vehicle using an accident severity index obtained based on the environment outside the vehicle and the current position of the vehicle and to control collision avoidance based on the calculated first weighted time to collision. The apparatus performs strong control to avoid a collision in an external environment incapable of being sensed by a sensor, thus reducing occurrence of an accident of the vehicle and damage due to the accident of the vehicle.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: October 6, 2020
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION, PUSAN NATIONAL UNIVERSITY INDUSTRY-UNIVERSITY COOPERATION FOUNDATION
    Inventors: Nam Han Kim, Chang Sun Ahn
  • Patent number: 10796574
    Abstract: A driving assistance method includes extracting an interference traffic line that is a route along which another vehicle can move and that interferes with a planned travel route of a subject vehicle. The method also includes determining a necessary length of the extracted interference traffic line of the other vehicle, which length is necessary for determining a driving action of the subject vehicle, on the basis of at least one of a shape of a road, a traffic rule, and a traffic situation. The method further includes determining the driving action of the subject vehicle to respond to the other vehicle moving along the interference traffic line using a range of the determined necessary length of the interference traffic line as a determination object.
    Type: Grant
    Filed: December 8, 2016
    Date of Patent: October 6, 2020
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Yohei Mishina, Susumu Fujita, Motonobu Aoki
  • Patent number: 10795371
    Abstract: A vehicle control device according to an embodiment includes a recognition unit recognizing surrounding vehicles of a subject vehicle and a potential setting unit setting a target object potential based on the surrounding vehicles recognized by the recognition unit for a plurality of separate areas acquired by dividing a road area and differently setting the target object potential in accordance with whether or not the subject vehicle or the surrounding vehicles are running in a predetermined running environment.
    Type: Grant
    Filed: August 27, 2018
    Date of Patent: October 6, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Daichi Kato
  • Patent number: 10782695
    Abstract: Disclosed herein are methods and apparatus for controlling autonomous vehicles utilizing maps that include visibility information. A map is stored at a computing device associated with a vehicle. The vehicle is configured to operate in an autonomous mode that supports a plurality of driving behaviors. The map includes information about a plurality of roads, a plurality of features, and visibility information for at least a first feature in the plurality of features. The computing device queries the map for visibility information for the first feature at a first position. The computing device, in response to querying the map, receives the visibility information for the first feature at the first position. The computing device selects a driving behavior for the vehicle based on the visibility information. The computing device controls the vehicle in accordance with the selected driving behavior.
    Type: Grant
    Filed: January 24, 2018
    Date of Patent: September 22, 2020
    Assignee: Waymo LLC
    Inventors: David Ian Franklin Ferguson, Nathaniel Fairfield, Bradley Templeton
  • Patent number: 10782138
    Abstract: A method, apparatus, and computer program product are described herein for determining pedestrian behavior profiles for road segments of a road network, from those pedestrian behavior profiles, determining the likelihood that an adverse pedestrian event will occur, and determining the action to be taken in response. Example embodiments may provide a mapping system including: a memory having map data; and processing circuitry. The processing circuitry may be configured to: receive data points associated with pedestrian movement; associate pedestrian movement with a road segment; determine, based on the data points, a pedestrian behavior profile for the road segment; and in response to the pedestrian behavior profile for the road segment indicating a likelihood for an adverse pedestrian event that satisfies a predetermined likelihood, cause at least one action in response thereto.
    Type: Grant
    Filed: October 6, 2017
    Date of Patent: September 22, 2020
    Assignee: HERE Global B.V.
    Inventors: Christof Kaiser, Sanjay Kumar Boddhu, Kevin Johnson, Davide Pietrobon, Noelle Risberg Scilley
  • Patent number: 10775537
    Abstract: A remote sensing system includes a primary beam configured to carry orbital angular momentum and characterized by a mode number (m), with the mode number (m) being a non-zero integer. The primary beam is configured to be directed at a target. A photon sieve is configured to receive a secondary beam emanating from the target. The secondary beam at least partially includes a portion of the primary beam. The photon sieve includes a plurality of holes forming one or more respective spiral patterns. The quantity of the respective spiral patterns in the photon sieve corresponds to the mode number (m) of the primary beam. The plurality of holes may be configured to have a minimum diameter such that the minimum diameter is greater than a predefined wavelength of the primary beam. The respective spiral patterns extend between a respective first hole and a respective final hole.
    Type: Grant
    Filed: March 20, 2018
    Date of Patent: September 15, 2020
    Assignee: UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF NASA
    Inventors: David G. MacDonnell, Wenbo Sun, Yongxiang Hu
  • Patent number: 10773647
    Abstract: The present invention relates to a method and device for triggering an automatic emergency braking process in a vehicle to avoid a tail-end collision with an obstacle, wherein a warning to the driver is triggered if at least one warning condition is satisfied, wherein the satisfaction of the warning condition specifies that owing to the instantaneous driving situation of the vehicle relative to the obstacle the automatic emergency braking process should be triggered, wherein the automatic emergency braking process is not triggered until after the warning to the driver is triggered and a warning time period has subsequently expired, wherein the warning time period is set as a function of the relative movement situation between the vehicle and the obstacle and/or is adapted as a function of a relative movement, which changes over time, between the vehicle and the obstacle.
    Type: Grant
    Filed: March 16, 2016
    Date of Patent: September 15, 2020
    Assignee: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH
    Inventors: Falk Hecker, Ulrich Gücker, Matyas Krabot, Markus Klein, Csaba Doczy, Gergely Jozsa, Tamas Rozsa
  • Patent number: 10775798
    Abstract: A running track determining device capable of appropriately determining a running track of a subject vehicle in the future in a speedy manner and an automatic driving apparatus including the running track determining device is provided. A running track determining device (1) includes an ECU (2). The ECU (2) calculates a risk potential (Prisk) representing an area having a possibility of the presence of a traffic participant from the present to the future in surroundings of the subject vehicle (3) in accordance with surrounding status data (D_info) detected by a status detecting device (4), calculates a benefit potential (Pbnf) representing an ideal running area in the future in which the subject vehicle (3) should run, and determines a running track (Tr_sk) of the subject vehicle (3) in the future by using the risk potential (Prisk) and the benefit potential (Pbnf).
    Type: Grant
    Filed: May 31, 2018
    Date of Patent: September 15, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventor: Yuji Yasui
  • Patent number: 10777081
    Abstract: A collision preventing ECU 10 selects an obstacle point which has probability of colliding with an own vehicle, and calculates a collision time periods (TTC) of the obstacle point. When the minimum collision time period is equal to or shorter than a threshold time period, the collision preventing ECU 10 determines that a specific condition is established, and performs a collision preventing control to prevent the own vehicle from colliding with the an obstacle. When the obstacle which includes the obstacle point whose collision time period is minimum is a continuous structure, the collision preventing ECU 10 calculates a continuous structure angle, and memory a calculation number corresponding to an angle range within which a magnitude of the continuous structure angle falls. When there is no angle range whose calculation number is more than a threshold number, the collision preventing control is prohibited.
    Type: Grant
    Filed: March 12, 2018
    Date of Patent: September 15, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Motoki Nishimura, Kotaro Saiki
  • Patent number: 10775494
    Abstract: An illustrative example method of tracking a moving object includes determining a heading angle of a centroid of the object from a tracking sensor, determining a raw difference value corresponding to a difference between a pointing angle of a selected feature on the object and the heading angle, wherein the raw difference is based on a trajectory curvature of the centroid from the tracking sensor and a distance between the centroid and the selected feature, determining a filtered difference between the pointing angle and the heading angle using a low pass filter, and determining the pointing angle by subtracting the filtered difference from the heading angle.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: September 15, 2020
    Assignee: APTIV TECHNOLOGIES LIMITED
    Inventors: Jan K. Schiffmann, Wenbing Dang, Kumar Vishwajeet, Keerthi Raj Nagaraja, Franz P. Schiffmann
  • Patent number: 10779139
    Abstract: A method for a V2V communication by using a radar module used for detecting objects nearby is provided. And the method includes steps of: (a) a computing device performing (i) a process of instructing the radar module to transmit 1-st transmitting signals by referring to at least one 1-st schedule and (ii) a process of generating RVA information by using (1-1)-st receiving signals, corresponding to the 1-st transmitting signals; and (b) the computing device performing a process of instructing the radar module to transmit 2-nd transmitting signals by referring to at least one 2-nd schedule.
    Type: Grant
    Filed: December 31, 2019
    Date of Patent: September 15, 2020
    Assignee: Stradvision, Inc.
    Inventors: Kye-Hyeon Kim, Yongjoong Kim, Hak-Kyoung Kim, Woonhyun Nam, SukHoon Boo, Myungchul Sung, Dongsoo Shin, Donghun Yeo, Wooju Ryu, Myeong-Chun Lee, Hyungsoo Lee, Taewoong Jang, Kyungjoong Jeong, Hongmo Je, Hojin Cho
  • Patent number: 10769945
    Abstract: In an information processor, a first acquirer acquires, when a first vehicle is traveling on a first road toward an intersection and a second vehicle is traveling on a second road, which intersects the first road, toward the intersection, a traveling tendency of the first vehicle from a first storage unit storing the traveling tendency at an intersection of each of multiple vehicles. A second acquirer acquires, when the first vehicle is traveling on the first road toward the intersection and the second vehicle is traveling on the second road toward the intersection, riskiness of the intersection from a second storage unit storing the riskiness of each of multiple intersections. Based on the traveling tendency of the first vehicle and the riskiness of the intersection, a judgment unit judges whether or not there is caution information at the time of passing through the intersection.
    Type: Grant
    Filed: December 14, 2019
    Date of Patent: September 8, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takashige Hori, Makoto Akahane
  • Patent number: 10769942
    Abstract: A method for wrong-way driver detection, including a step of reading in position data via an interface, the position data representing a measured position of a vehicle, a step of reading in map data mapping road segments negotiable by the vehicle, a step of reading in a plurality of particles, one particle representing an assumed position of the vehicle and a weighting assigned to the assumed position, and a step of determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data.
    Type: Grant
    Filed: April 13, 2017
    Date of Patent: September 8, 2020
    Assignee: Robert Bosch GmbH
    Inventor: Simon Geisler
  • Patent number: 10769421
    Abstract: A method for performing pedestrian detection with aid of light detection and ranging (LIDAR) is provided. The method includes: obtaining 3-dimensional (3D) point cloud data through the LIDAR; performing ground separation processing on the 3D point cloud data to remove ground information; performing object extraction processing on the 3D point cloud data to obtain 3D point cloud chart that includes pedestrian candidate point cloud group; performing 2-dimensional (2D) mapping processing on the 3D point cloud chart to obtain 2D chart; and extracting 3D feature and 2D feature from the 3D point cloud chart and the 2D chart, respectively, and utilizing the 3D feature and the 2D feature to determine location of the pedestrian. According to the method, image data obtained by the LIDAR may be enhanced, the method may distinguish between pedestrian far away and environment blocks, and pedestrian recognition in nighttime or in bad weather may be improved.
    Type: Grant
    Filed: August 8, 2018
    Date of Patent: September 8, 2020
    Assignee: National Chung-Shan Institute of Science and Technology
    Inventors: Kai-Lung Hua, Shih-Che Chien, Feng-Chia Chang, Hsueh-Ling Tang, Chien-Hao Hsiao, Yu-Sung Hsiao
  • Patent number: 10766491
    Abstract: A driving change control device in a vehicle equipped with an autonomous driving function for performing a driving operation on behalf of a driver and controlling an exchange of the driving operation between the autonomous driving function and the driver includes: a section setting unit that sets a change execution section where a driving change from the autonomous driving function to the driver is performed; and a parameter adjustment unit that changes a travel control parameter referred to by the autonomous driving function in a switching section before the change execution section, to adjust a traveling state of the vehicle to be a state with a driving load lower than a driving load before arrival at the switching section.
    Type: Grant
    Filed: January 27, 2017
    Date of Patent: September 8, 2020
    Assignee: DENSO CORPORATION
    Inventor: Takuya Mori
  • Patent number: 10759422
    Abstract: A device for controlling a vehicle at an intersection. The device variably sets a monitoring range of a vehicle sensor in accordance with a relationship between the progress paths of a host vehicle and a target vehicle at an intersection, or controls the host vehicle according to a collision avoidance control method in comparison with a predetermined scenario of a collision possibility of the host vehicle and the target vehicle at the intersection according to a scenario, thereby making it possible to prevent a collision at the intersection.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: September 1, 2020
    Assignee: MANDO CORPORATION
    Inventor: Kwan Sun You
  • Patent number: 10759421
    Abstract: A control device for a vehicle includes a camera sensor and an ECU. The ECU defines a specified area based on a position of a stationary object when the recognized objects include the stationary object. The ECU performs first driving support for reducing a possibility of a collision between a moving body and the host vehicle when the recognized objects include the moving body which is positioned within the specified area. Boundary lines partitioning the specified area include a first traveling direction boundary line extending in a traveling direction of the host vehicle. An inside of the specified area is a side on which the stationary object is positioned with respect to the first traveling direction boundary line. The first traveling direction boundary line is set on a side opposite to the stationary object across a reference line set based on a predicted course of the host vehicle.
    Type: Grant
    Filed: June 29, 2018
    Date of Patent: September 1, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shinichi Nagata, Akitoshi Minemura
  • Patent number: 10761542
    Abstract: Examples described may enable provision of remote assistance for an autonomous vehicle. An example method includes a computing system operating by default in a first mode and periodically transitioning from operation in the first mode to operation in a second mode. In the first mode, the system may receive environment data provided by the vehicle and representing object(s) having a detection confidence below a threshold, where the detection confidence is indicative of a likelihood of correct identification of the object(s), and responsive to the object(s) having a confidence below the threshold, provide remote assistance data comprising an instruction to control the vehicle and/or a correct identification of the object(s). In the second mode, the system may trigger user interface display of remote assistor alertness data based on pre-stored data related to an environment in which the pre-stored data was acquired, and receive a response relating to the alertness data.
    Type: Grant
    Filed: August 22, 2017
    Date of Patent: September 1, 2020
    Assignee: Waymo LLC
    Inventors: Nathaniel Fairfield, Joshua Herbach
  • Patent number: 10762440
    Abstract: Some embodiments provide a sensor data-processing system which detects and classifies objects detected in an environment via fusion of sensor data representations generated by multiple separate sensors. The sensor data-processing system can fuse sensor data representations generated by multiple sensor devices into a fused sensor data representation and can further detect and classify features in the fused sensor data representation. Feature detection can be implemented based at least in part upon utilizing a feature-detection model generated via one or more of deep learning and traditional machine learning. The sensor data-processing system can adjust sensor data processing of representations generated by sensor devices based on external factors including indications of sensor health and environmental conditions.
    Type: Grant
    Filed: September 23, 2016
    Date of Patent: September 1, 2020
    Assignee: Apple Inc.
    Inventors: Kshitiz Garg, Ahmad Al-Dahle
  • Patent number: 10752218
    Abstract: A computer in a vehicle includes a processor is programmed to detect an object proximate to the vehicle. The processor is further programmed to activate at least one of a plurality of cameras from a deactivated state and operate the vehicle according to an object type determined with data from the at least one of the cameras.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: August 25, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Taneshia Turner, Venkatesh Krishnan, Segundo Baldovino
  • Patent number: 10754029
    Abstract: A computing device in a vehicle can determine a plurality of lane change maneuvers based on the time to collision. The computing device can determine a field of safe travel to execute the lane change maneuvers without braking to a stop and display the field of safe travel to an occupant.
    Type: Grant
    Filed: May 30, 2017
    Date of Patent: August 25, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Walter Joseph Talamonti, Shun-an Chung, Louis Tijerina
  • Patent number: 10753757
    Abstract: An information processing apparatus and an information processing method enables enhancement of accuracy in recognition of locations of a moving body. The information processing apparatus is arranged on a moving body and includes an own-location recognition block that recognizes, based on an image taken from the moving body, a first own location of the moving body. A moving body recognition block recognizes a relative location of another moving body relative to the moving body in the image taken from the moving body, and a communication block executes communication with the another moving body to obtain the absolute location of the another moving body, An own location computation block computes, based on the absolute location of the another moving body and the relative location of the another moving body, a second own location of the moving body.
    Type: Grant
    Filed: September 16, 2016
    Date of Patent: August 25, 2020
    Assignee: SONY CORPORATION
    Inventors: Shingo Tsurumi, Masashi Eshima, Akihiko Kaino, Takaaki Kato, Masaki Fukuchi, Suguru Aoki, Takuto Motoyama
  • Patent number: 10754351
    Abstract: The novel technology described in this disclosure includes an example method comprising initializing an observability grid with an observation likelihood distribution for an environment being navigated by a mobile detection system, such as but not limited to a robot; searching the environment using the observability grid for an observation point; navigating, using a propulsion system, the robot to the observation point; and observing a target object from the observation point. The observability grid may include two or more spatial dimensions and an angular dimension. In some cases, the method may include sampling the environment with the robot based on the observation likelihood distribution of the observability grid.
    Type: Grant
    Filed: February 28, 2017
    Date of Patent: August 25, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Eric Martinson, Jose Capriles Grane, Yusuke Nakano
  • Patent number: 10755113
    Abstract: A method for estimating an inherent movement of a vehicle. The method includes a step of classifying, a step of detecting, and a step of ascertaining. In the step of classifying, at least one portion of a camera image representing a classified object is classified into an object category which represents stationary objects. In the step of detecting, at least one detection point of the portion in the camera image classified into the object category is detected in the camera image by utilizing a detection algorithm. In the step of ascertaining, an estimated inherent movement of the vehicle is ascertained by utilizing the detection point.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: August 25, 2020
    Assignee: Robert Bosch GmbH
    Inventor: Oliver Pink
  • Patent number: 10754021
    Abstract: An embodiment system may include a first millimeter-wave radar sensor coupled to a driver-side door of a vehicle, and a second millimeter-wave radar sensor coupled to a side-view mirror of the vehicle adjacent to the driver-side door. The first millimeter-wave radar sensor may be configured to produce a first set of radar data indicative of a presence of an object within a first field of view, and the second millimeter-wave radar sensor may be configured to produce a second set of radar data indicative of a presence of the object within a second field of view. The system may further include a processing circuit coupled to the first millimeter-wave radar sensor and the second millimeter-wave radar sensor, and a controller coupled to the processing circuit, the controller being configured to control an operation of the vehicle based on a control signal provided to the controller by the processing circuit.
    Type: Grant
    Filed: October 4, 2017
    Date of Patent: August 25, 2020
    Assignee: INFINEON TECHNOLOGIES AG
    Inventors: Ashutosh Baheti, Reinhard-Wolfgang Jungmaier, Avik Santra, Saverio Trotta
  • Patent number: 10752250
    Abstract: The invention relates to a method for assisting driving, characterized in that it comprises steps of: —determination (220) of a proposal of change of lane, requiring a first validation, —determination (210) of a proposal of change of speed, requiring a second validation, —determination of a validation time (2?) corresponding to a maximum time remaining to the driver, after the validation of the proposal of change of lane, to validate the proposal of change of speed, —if (240, 250) the validation time (2?) is less than or equal to a predetermined threshold then the cancellation (260) of the proposal of change of lane.
    Type: Grant
    Filed: December 7, 2016
    Date of Patent: August 25, 2020
    Assignee: PSA AUTOMOBILES SA
    Inventors: Stephane Feron, Celine Taccori Duvergey, Vincent Laine
  • Patent number: 10752223
    Abstract: An autonomous emergency braking (AEB) system includes a vehicle dynamics sensor and an around-view monitoring (AVM) sensor. The AVM sensor detects a distance and relative speed between the host vehicle and a peripheral object, or transmits an image of a peripheral region of the host vehicle to the ECU. The ECU receives detection signals from the sensors, determines the presence or absence of a moving object approaching in a direction transverse to a traveling direction of the host vehicle at crossroads during driving of the host vehicle, selects the detected moving object as a control object using the detected moving object detection information if the presence of the approaching moving object is determined, and warns a driver of the host vehicle about a high possibility of collision with the selected control object or performs autonomous emergency braking (AEB) of the host vehicle.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: August 25, 2020
    Assignee: MANDO CORPORATION
    Inventor: Kwan Sun You
  • Patent number: 10747228
    Abstract: An autonomous driving system includes a number of sensors and a number of autonomous driving modules. The autonomous driving system further includes a global store to store data generated and used by processing modules such as sensors and/or autonomous driving modules. The autonomous driving system further includes a task scheduler coupled to the sensors, the autonomous driving modules, and the global store. In response to output data generated by any one or more of processing modules, the task scheduler stores the output data in the global store. In response to a request from any of the processing modules for processing data, the task scheduler provides input data stored in the global store to the processing module. The task scheduler is executed in a single thread that is responsible for managing data stored in the global store and dispatching tasks to be performed by the processing modules.
    Type: Grant
    Filed: July 3, 2017
    Date of Patent: August 18, 2020
    Assignee: BAIDU USA LLC
    Inventors: Jun Zhan, Yiqing Yang, Siyang Yu, Xuan Liu, Yu Cao, Zhang Li, Guang Yang
  • Patent number: 10748435
    Abstract: An obstacle avoidance system is provided to assist a pilot in avoiding obstacles. The obstacle avoidance system includes a set of proximity sensors and a pilot interface device. The set of proximity sensors detects nearby obstacles by emitting a signal and receiving a reflected signal from an obstacle. A processor receives an obstacle indication from the set of proximity sensors and detects the obstacle that is in proximity to the aircraft based at least in part on the reflected signal. The processor acquires a distance and a direction to the obstacle and calculates a threat level posed by the obstacle. The pilot interface device is operable to display the following: an ownship icon indicative of the aircraft, a velocity vector icon indicative of a velocity vector of the aircraft, and an obstacle graphic indicative of the distance, direction, and threat level of the obstacle.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: August 18, 2020
    Assignee: Garmin International, Inc.
    Inventors: Anup A. Gadgil, Joseph L. Komer
  • Patent number: 10745029
    Abstract: The present subject matter relates to providing alerts to the driver based on external environment and location of the vehicle. Data related to external environment to a vehicle is fetched and the location is determined. Based on the fetched external environment data an event is determined. Also, location parameters are also identified. For the location and the parameters of the location, road and the vehicle are determined, the general driving behavior for the particular location is fetched. Based on the determined event warning is generated for a driver of the vehicle. The intensity of the warning is varied based on severity of the event.
    Type: Grant
    Filed: December 27, 2018
    Date of Patent: August 18, 2020
    Assignee: THE HI-TECH ROBOTIC SYSTEMZ LTD
    Inventors: Anuj Kapuria, Ritukar Vijay
  • Patent number: 10741073
    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: December 24, 2018
    Date of Patent: August 11, 2020
    Assignee: NORTH EAST KING COUNTY REGIONAL PUBLIC SAFETY COMMUNICATIONS AGENCY (NORCOM)
    Inventors: Nathan Way, Ron Tiedeman
  • Patent number: 10740629
    Abstract: An image processing system includes: a vehicle; and an information processing device, wherein the vehicle includes: an image pickup device; a first image acquiring unit configured to acquire a first image picked up by the image pickup device; and a position data sending unit configured to send position data to the information processing device, and the information processing device includes: a position data receiving unit configured to receive the position data; a second image acquiring unit configured to acquire a plurality of second images for machine learning; a grouping unit configured to divide the plurality of second images into a plurality of groups; and an analyzing unit configured to analyze a balance among the plurality of groups.
    Type: Grant
    Filed: May 18, 2018
    Date of Patent: August 11, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Koichi Suzuki, Junichiro Igawa
  • Patent number: 10737611
    Abstract: A road surface display device mounted to an own vehicle includes: a road surface image control portion generating a road surface image which is displayed on a road surface ahead of the own vehicle and includes images each indicating an expected arrival zone where the own vehicle is expected to arrive at an expected arrival time; a detection portion obtaining display states of a different vehicle image, which is a road surface image displayed by a different vehicle, and an own vehicle image, which is the road surface image displayed by the own vehicle, and detecting a presence of overlapping or proximity between the two images; and a display adjustment portion, when the presence of overlapping or proximity is detected, displaying an image indicating a shorter expected arrival time in a region where the presence of overlapping or proximity is detected on the road surface.
    Type: Grant
    Filed: May 10, 2016
    Date of Patent: August 11, 2020
    Assignee: DENSO CORPORATION
    Inventors: Narihiro Haneda, Kunihiko Hayashi
  • Patent number: 10741086
    Abstract: A method and system for developing a flight plan for taking images from an area of interest is disclosed. A series of trajectories is determined. Each trajectory is determined based on a logarithmic spiral curve derived from a range of predetermined basis angles and selecting a constant tangent angle between a radial line from the location of an image sensor to a target location, and a tangent line to the logarithmic spiral curve at the location of the image sensor. A set of trajectories from the series of trajectories is selected. The selected trajectories are scaled to cover the area of interest. The selected trajectories are transformed to coordinates corresponding to the area of interest. The set of scaled and transformed trajectories are stored as the flight plan for taking images of the area of interest.
    Type: Grant
    Filed: August 2, 2018
    Date of Patent: August 11, 2020
    Inventors: James W. Dow, W. Scott Dow
  • Patent number: 10741080
    Abstract: A method for operating a motor vehicle driving driverlessly within a parking facility, including detecting, by way of a surrounding-area sensor suite of the motor vehicle, a surrounding area of the motor vehicle, in order to ascertain surrounding-area data corresponding to the detected surrounding area; checking motor vehicle-internally, based on the ascertained surrounding-area data, whether the surrounding area of the motor vehicle is devoid of an object that might, with a predetermined probability, collide with the motor vehicle; and continuing driverless driving only when the motor vehicle-internal check has indicated that the surrounding area of the motor vehicle is devoid of a corresponding object, so that the motor vehicle automatically halts if the motor vehicle-internal check has indicated that a corresponding object is located in the surrounding area.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: August 11, 2020
    Assignee: Robert Bosch GmbH
    Inventor: Stefan Nordbruch
  • Patent number: 10739782
    Abstract: Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system includes a processing device programmed to receive a plurality of images representative of an environment of the host vehicle. The environment includes a road on which the host vehicle is traveling. The at least one processing device is further programmed to analyze the images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling; analyze the images to identify a lane mark associated with the lane in which the target vehicle is traveling; detect lane mark characteristics of the identified lane mark; use the detected lane mark characteristics to determine a type of the identified lane mark; determine a characteristic of the target vehicle; and determine a navigational action for the host vehicle based on the determined lane mark type and the determined characteristic of the target vehicle.
    Type: Grant
    Filed: October 31, 2017
    Date of Patent: August 11, 2020
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventors: Dor Eagelberg, Gideon Stein, Yoav Taieb, Yoram Gdalyahu, Ofer Fridman
  • Patent number: 10733886
    Abstract: Systems and methods for real-time detection and mitigation anomalous behavior of a remote vehicle are provided, e.g., vehicle behavior that is consistent with distracted or unexpectedly disabled driving. On-board and off-board sensors associated with a subject vehicle may monitor the subject vehicle's environment, and behavior characteristics of a remote vehicle operating within the subject vehicle's environment may be determined based upon collected sensor data. The remote vehicle's behavior characteristics may be utilized to detect or determine the presence of anomalous behavior, which may be anomalous for the current contextual conditions of the vehicles' environment. Mitigating actions for detected remote vehicle anomalous behaviors may be suggested and/or automatically implemented at the subject vehicle and/or at proximate vehicles to avoid or reduce the risk of accidents, injury, or death resulting from the anomalous behavior. In some situations, authorities may be notified.
    Type: Grant
    Filed: December 9, 2019
    Date of Patent: August 4, 2020
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Brian Mark Fields, John A. Nepomuceno, Scott Thomas Christensen, Duane Christiansen, Steven C. Cielocha, Kristopher Keith Gaudin, Michael Bernico, Nathan L. Tofte, Steve Roberson
  • Patent number: 10735908
    Abstract: Apparatuses, methods, and computer program products disclosed herein provide improved unmanned aerial vehicle (UAV) detection. A method may include receiving data including wireless signal strength collected by one or more devices, monitoring the data including the wireless signal strength to determine if the wireless signal strength of a wireless signal source increases over time in a manner to satisfy a predefined threshold in order to be indicative of a UAV, determining a trajectory of the UAV based upon the data including the wireless signal strength, and generating an alert based on, at least, the trajectory of the UAV as indicated by the data including the wireless signal strength.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: August 4, 2020
    Assignee: NOKIA TECHNOLOGIES OY
    Inventor: Yuyang Liang
  • Patent number: 10730521
    Abstract: An autonomous drive system for a vehicle includes at least one environment perception sensor, a perception module, a location module, an intention prediction module, and a control module. The perception module is configured to receive signals from the at least one environment perception sensor and detect and track at least two remote vehicles in one or both of a current lane and a neighboring lane. The location module is configured to determine a location of the vehicle. The intention prediction module is configured to generate predicted trajectories for the at least two remote vehicles. The control module is configured to receive signals from the at least one environment perception sensor and receive the predicted trajectories from the intention prediction module. The control module determines a location and time for a lane change based on the predicted trajectories and controls the vehicle to change lanes at the determined location and time.
    Type: Grant
    Filed: May 9, 2018
    Date of Patent: August 4, 2020
    Assignees: DENSO International America, Inc., RobotWits, LLC
    Inventors: Maxim Likhachev, Ellis Marshal Ratner, Lu Lyu, Yunfei Xu, Takashi Bando, Jonathan Michael Butzke
  • Patent number: 10725474
    Abstract: Vehicle systems that implement action planning for a vehicle have had difficulty in maintaining safety in the event of a failure in a recognition device since these systems generate trajectories and control the vehicle on the basis of outside-world information recognized by recognition devices. The present invention was conceived in light of the aforementioned situation and addresses the problem of maintaining safety even in the event of a failure in a recognition device of a vehicle system. This problem can be solved by an action planning device having a failure detection unit for detecting a failure in an outside-world recognition unit and a trajectory generation/determination unit for executing an action on the occurrence of a failure on the basis of outside-world information outputted by the outside-world recognition unit, wherein the trajectory generation/determination unit takes an action for coping with the failure on the basis of failure information from the failure detection unit.
    Type: Grant
    Filed: June 19, 2019
    Date of Patent: July 28, 2020
    Assignee: Hitachi Automotive Systems, Ltd.
    Inventors: Satoshi Otsuka, Noritaka Matsumoto, Kouhei Sakurai, Taisetsu Tanimichi
  • Patent number: 10728436
    Abstract: An optical object detection apparatus and associated methods. The apparatus may comprise a lens (e.g., fixed-focal length wide aperture lens) and an image sensor. The fixed focal length of the lens may correspond to a depth of field area in front of the lens. When an object enters the depth of field area (e.g., sue to a relative motion between the object and the lens) the object representation on the image sensor plane may be in-focus. Objects outside the depth of field area may be out of focus. In-focus representations of objects may be characterized by a greater contrast parameter compared to out of focus representations. One or more images provided by the detection apparatus may be analyzed in order to determine useful information (e.g., an image contrast parameter) of a given image. Based on the image contrast meeting one or more criteria, a detection indication may be produced.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: July 28, 2020
    Assignee: Brain Corporation
    Inventors: Filip Piekniewski, Vadim Polonichko, Eugene Izhikevich
  • Patent number: 10728461
    Abstract: A method for correcting an incorrect angle of a camera is provided. And the method includes steps of: (a) a computing device, generating first reference data or second reference data according to circumstance information by referring to a reference image; (b) the computing device generating a first angle error or a second angle error by referring to the first reference data or the second reference data with vehicle coordinate data; and (c) the computing device instructing a physical rotation module to adjust the incorrect angle by referring to the first angle error or the second angle error.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: July 28, 2020
    Assignee: Stradvision, Inc.
    Inventors: Kye-Hyeon Kim, Yongjoong Kim, Hak-Kyoung Kim, Woonhyun Nam, SukHoon Boo, Myungchul Sung, Dongsoo Shin, Donghun Yeo, Wooju Ryu, Myeong-Chun Lee, Hyungsoo Lee, Taewoong Jang, Kyungjoong Jeong, Hongmo Je, Hojin Cho