Having Inter-vehicle Distance Or Speed Control Patents (Class 701/96)
  • Patent number: 11370430
    Abstract: An ACC function for performing constant speed cruise according to a target speed when there is no preceding other vehicle in a vehicle's driving lane and performing following cruise by maintaining a predetermined inter-vehicle distance when there is a preceding other vehicle, an LKA function for maintaining cruise, an override function for stopping the ACC function and the LKA function by a driver's operation intervention, and a fallback function for performing fallback control of the ACC function and/or the LKA function, with notifying the driver of stopping the ACC function and/or the LKA function and operation takeover, at a time of system operational design domain deviation of the ACC function and/or the LKA function, override threshold values of the functions serving as a determination criterion of the operation intervention for stopping the ACC function and/or the LKA function at the time of system operational design domain deviation are configured to be altered to a value greater than during normal ope
    Type: Grant
    Filed: February 6, 2020
    Date of Patent: June 28, 2022
    Assignee: SUZUKI MOTOR CORPORATION
    Inventor: Katsuhiko Sato
  • Patent number: 11364887
    Abstract: An autonomous deceleration control apparatus includes a brake module that receives an input signal; and a brake control module that controls an operational state of the brake module. The brake module includes a pedal link having a preset length and provided to be rotatable within a preset range; and a pedal encoder located adjacent to the one end of the pedal link and configured to detect a rotational state of the pedal link. The brake control module includes: a driver; a movable link rotatable about a movable link shaft located at one end thereof by the driver and provided to press the pedal link downwards according to a rotational state thereof; and a driver encoder connected to the movable link and configured to provide an operational state of the driver and movable link state information on the location of the movable link according to the operational state of the driver.
    Type: Grant
    Filed: November 27, 2019
    Date of Patent: June 21, 2022
    Assignee: KAR Co., Ltd
    Inventors: Sungjae Choi, Changook Jang, Hansol Choi
  • Patent number: 11364908
    Abstract: A cruise control method to control a driven vehicle includes: determining projected speeds of the driven vehicle at each of the predetermined-upcoming locations; determining a plurality of following times at each of the predetermined-upcoming locations of the driven vehicle and the projected speeds of the followed vehicle; determining whether at least one of the plurality of following times is less than the predetermined-minimum time threshold; and in response to determining that at least one plurality of following times is less than the predetermined-minimum time threshold, commanding, by the controller, the propulsion system of the driven vehicle to decrease the commanded axle torque by a torque adjustment in order to prevent each of the plurality of following times at each of the predetermined-upcoming locations from being less than the predetermined-minimum time threshold.
    Type: Grant
    Filed: February 11, 2020
    Date of Patent: June 21, 2022
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Matthew S. Zebiak, Amanpal S. Grewal
  • Patent number: 11367347
    Abstract: A computer is programmed to collect first data with a stationary infrastructure sensor describing a first plurality of objects, the first data including at least one movable vehicle, identify a respective first bounding box for each of the first plurality of objects, and receive a message from the vehicle including second data describing a second plurality of objects, whereby at least one object is included in the first plurality of objects and the second plurality of objects. The computer identifies a respective second bounding box for each of the second plurality of objects. The computer identifies, for each object in both the first and second plurality of objects, a respective overlapping area of first and second bounding boxes. The computer transforms coordinates of the first data to coordinates of the second data upon determining that a mean value of the overlapping areas is below a threshold.
    Type: Grant
    Filed: February 24, 2020
    Date of Patent: June 21, 2022
    Assignee: Ford Global Technologies, LLC
    Inventor: Linjun Zhang
  • Patent number: 11358610
    Abstract: A vehicle alert apparatus acquires an object distance between an object and a vehicle, presumes a predicted moving route of the vehicle when the object distance is shorter than or equal to a threshold object distance. The vehicle alert apparatus calculates a collision distance which the vehicle has moves along the predicted moving route until the vehicle collides with the object or the vehicle has moved to a position closest to the object when determining that the vehicle potentially collides with the object, based on the predicted moving route. The vehicle alert apparatus performs a first alert when the collision distance is larger than a threshold collision distance. The vehicle alert apparatus performs a second alert having a higher alert level of alerting the driver than the alert level of the first alert when the collision distance is shorter than or equal to the threshold collision distance.
    Type: Grant
    Filed: October 8, 2020
    Date of Patent: June 14, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Toshihiro Takagi, Yasutaka Matsunaga, Masumi Fukuman
  • Patent number: 11352006
    Abstract: A travel control device whereby wasted energy consumption can be suppressed. The travel control device (100) has: a leading vehicle detection unit (110) that, once a leading vehicle that has been followed at no more than a set vehicle speed has gone, determines whether or not a new leading vehicle has been detected within a prescribed time; a speed determination unit (120) that, if a new leading vehicle has been detected, determines whether or not the speed difference between the speed of a host vehicle and the speed of the leading vehicle is within a set range having zero as the reference therefor; and a travel control unit (130) that, if the speed difference is within the set range, controls the host vehicle so as to prohibit acceleration for reducing the distance between the host vehicle and the new leading vehicle to a set inter-vehicle distance.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: June 7, 2022
    Assignee: Isuzu Motors Limited
    Inventors: Kouki Natsumi, Masaichi Takahashi
  • Patent number: 11354952
    Abstract: Activation of an automatic driving feature in a vehicle is detected by evaluating sequential vehicle operation data against subtractive and additive heuristic rules that define a likelihood of an automatic driving feature having been engaged as a function of vehicle performance. The sequential vehicle operation data, which does not include an explicit indication of whether the automatic driving feature was engaged, is provided for time intervals of a trip made by the vehicle. Automatic driving information is generated, which provides an indication of whether the automatic driving feature was engaged during a subset of the time intervals.
    Type: Grant
    Filed: May 11, 2020
    Date of Patent: June 7, 2022
    Assignee: Avinew, Inc.
    Inventors: William Anderson Barnes, Randall C. Adams, Daniel R. Peate, Steven Anthony Bentz, G. Edward Combs
  • Patent number: 11351863
    Abstract: An apparatus comprising an interface, a memory and a processor. The interface may be configured to receive sensor data samples during operation of a vehicle. The memory may be configured to store the sensor data samples over a number of points in time. The processor may be configured to analyze the sensor data samples stored in the memory to detect a pattern. The processor may be configured to manage an application of brakes of the vehicle in response to the pattern.
    Type: Grant
    Filed: June 6, 2019
    Date of Patent: June 7, 2022
    Assignee: INVENTLY AUTOMOTIVE INC.
    Inventors: Martin Koebler, Nicole G. Goldstein, Stephen J. Brown, Jason H. Harper
  • Patent number: 11345346
    Abstract: A method for vehicle following control based on the real-time calculation of dynamic safe following distance. A preset vehicle deceleration model with three preset behavior adjustment parameters is used to obtain the absolute braking distance models of the leading and following vehicles, then to further establish the dynamic safe following distance model for calculating the dynamic safe following distance between the following vehicle and the leading vehicle in real time. In the process of vehicle following operation, the current dynamic safe following distance is compared with the current actual following distance to determine whether to adjust the following behavior of the following vehicle and how to control the following vehicle to move in safety, efficiency and smoothness.
    Type: Grant
    Filed: September 20, 2020
    Date of Patent: May 31, 2022
    Assignee: TONGJI UNIVERSITY
    Inventors: Deng Pan, Yijun Xia
  • Patent number: 11345236
    Abstract: An apparatus comprising an interface, a memory and a processor. The interface may be configured to receive sensor data samples during operation of a vehicle. The memory may be configured to store the sensor data samples over a number of points in time. The processor may be configured to analyze the sensor data samples stored in the memory to detect a pattern. The processor may be configured to manage an application of brakes of the vehicle in response to the pattern.
    Type: Grant
    Filed: June 6, 2019
    Date of Patent: May 31, 2022
    Assignee: INVENTLY AUTOMOTIVE INC.
    Inventors: Martin Koebler, Nicole G. Goldstein, Stephen J. Brown, Jason H. Harper
  • Patent number: 11345348
    Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: May 31, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Sung Min Park, Na Eun Yang, Jin Su Jeong
  • Patent number: 11340612
    Abstract: A vehicle control apparatus that controls a vehicle based on a plurality of control states, includes a detection unit configured to detect information of the vehicle and peripheral information of the vehicle and a vehicle control unit configured to control the vehicle based on a detection result of the detection unit. In a case in which the vehicle control unit can execute, based on the detection result of the detection unit, a first control state and a second control state, the vehicle control unit controls the vehicle by selecting a control state prioritizing one of the first control state and the second control state in an overlapping operation condition range.
    Type: Grant
    Filed: January 29, 2020
    Date of Patent: May 24, 2022
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Atsushi Ishioka, Tadahiko Kanoh, Kanta Tsuji, Daichi Kato
  • Patent number: 11332133
    Abstract: A driver assist apparatus includes: an information acquisition section that obtains a detected information of a different vehicle driving; a calculation section that calculates a risk estimation value representing a level of risk imposed on the subject vehicle by the different vehicle; a selection section that selects driver assist content corresponding to the risk estimation value; and a merging determination section that determines whether the different vehicle cuts into the expected course. Driver assist corresponding to the different vehicle cutting into the expected course is performed earlier than driver assist corresponding to a preceding vehicle driving on a lane on which the subject vehicle drives.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: May 17, 2022
    Assignee: DENSO CORPORATION
    Inventor: Takuya Kume
  • Patent number: 11334092
    Abstract: Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, gear ratios on vehicles. A front vehicle can shift a gear which, via a vehicle-to-vehicle communication link, can cause a rear vehicle to shift gears. To maintain a gap, vehicles may shift gears at various relative positions based on a grade of a road.
    Type: Grant
    Filed: September 10, 2018
    Date of Patent: May 17, 2022
    Assignee: Peloton Technology, Inc.
    Inventors: Mark S. Luckevich, Shad M. Laws, Joshua P. Switkes, Trevor W. Laing, Joseph Jackson Bendor
  • Patent number: 11325602
    Abstract: A lane change assist control unit refers to characteristics of a remaining distance with respect to a host vehicle speed, with a lane travel speed of a second lane (main line) adjacent to a first lane (merging lane) as a parameter, and determines whether to continue or cancel a lane change assist control.
    Type: Grant
    Filed: December 26, 2019
    Date of Patent: May 10, 2022
    Assignee: Honda Motor Co., Ltd.
    Inventors: Atsushi Ishioka, Kanta Tsuji
  • Patent number: 11327165
    Abstract: The present invention provides an apparatus and a method for ranging, following and positioning of a mobile device. The apparatus includes an emitting unit, a receiving unit, and a computing unit. The emitting unit and the receiving unit are connected to the computing unit. The emitting unit is configured to emit a centimeter wave to an object to be followed. The receiving unit is configured to receive the centimeter wave. The computing unit is configured to calculate a distance between the mobile device and the object to be followed according to a time difference between emission of the centimeter wave and reception of the centimeter wave, and further calculate a movement distance according to the distance and a threshold distance difference. The present invention can be made waterproof and oil resistant. Compared with the technology using laser, the present invention better prevents measurement failure caused by permeability of the medium.
    Type: Grant
    Filed: January 20, 2016
    Date of Patent: May 10, 2022
    Assignee: COWA ROBOTIC CO., LTD.
    Inventors: Qiang Wang, Gangzhi He, Tao He, Wenlong Liao, Jianfei Zhang, Liyuan Liu, Lei Zhao
  • Patent number: 11305774
    Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: April 19, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Sung Min Park, Na Eun Yang, Jin Su Jeong
  • Patent number: 11307302
    Abstract: A method and system for estimating an absolute velocity of an obstacle are provided. The method can include measuring an absolute velocity of a motor vehicle at a current moment t1 by an integrated navigation device, and storing the measured absolute velocity of the motor vehicle at the current moment t1 in a data table, obtaining a relative velocity of the obstacle relative to the motor vehicle at a second moment t2 by a millimeter wave radar; adjusting the relative velocity of the obstacle at the second moment t2 to a relative velocity of the obstacle at the current moment t1, and obtaining the absolute velocity of the obstacle at the current moment t1 by adding the absolute velocity of the motor vehicle at the current moment t1 to the relative velocity of the obstacle at the current moment t1 after an adjustment.
    Type: Grant
    Filed: July 24, 2019
    Date of Patent: April 19, 2022
    Assignee: Baidu Online Network Technology (Beijing) Co., LTD
    Inventor: Chongchong Li
  • Patent number: 11299155
    Abstract: An ACC function for performing constant speed cruise according to a target speed when there is no preceding other vehicle in a vehicle's driving lane and performing following cruise by maintaining a predetermined inter-vehicle distance when there is a preceding other vehicle, an LKA function for maintaining cruise, an override function for stopping the ACC function and the LKA function by a driver's operation intervention, and a fallback function for performing fallback control of the ACC function and/or the LKA function, with notifying the driver of stopping the ACC function and/or the LKA function and operation takeover, at a time of system operational design domain deviation of the ACC function and/or the LKA function, override threshold values of the functions serving as a determination criterion of the operation intervention for stopping the ACC function and/or the LKA function at the time of system operational design domain deviation are configured to be altered to a value greater than during normal ope
    Type: Grant
    Filed: February 6, 2020
    Date of Patent: April 12, 2022
    Assignee: SUZUKI MOTOR CORPORATION
    Inventor: Katsuhiko Sato
  • Patent number: 11294396
    Abstract: A system and method for mitigating or avoiding risks due to hazards encountered by platooning vehicles. The system and method involve interrogating, with one or more sensors, a space radially extending from a lead vehicle as the lead vehicle travels over the road surface, perceiving the environment within the space, ascertaining a hazard caused by an object in the space, and causing a following vehicle, operating in a platoon with the lead vehicle, to take a preemptive braking action to avoid or mitigate risks resulting from the hazard caused by the object in the space.
    Type: Grant
    Filed: March 20, 2018
    Date of Patent: April 5, 2022
    Assignee: PELOTON TECHNOLOGY, INC.
    Inventors: Joshua P. Switkes, Stephen M. Erlien, Lorenz Laubinger
  • Patent number: 11282395
    Abstract: A method for operating an automated vehicle convoy includes periodically wirelessly transmitting messages from preceding participants of the automated vehicle convoy to respective following participants of the automated vehicle convoy, proceeding from the leading participant of the automated vehicle convoy. The messages include at least one piece of, in particular temporal, information from which a minimum distance between each following participant and the respective preceding participant is ascertained. The following participants of the automated vehicle convoy are guided corresponding to the ascertained minimum distance.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: March 22, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Klaus Sambale, Christian Zimmermann, Frank Hofmann, Soheil Gherekhloo
  • Patent number: 11279351
    Abstract: A method is presented for controlling a motor vehicle (10). Initially, driving maneuver data containing information concerning multiple possible, different driving maneuvers of the motor vehicle (10) are generated and/or received. Traffic data containing information concerning at least one undisturbed predicted trajectory of at least one further road user (20, 22, 24) are generated and/or received. An influence of the at least one driving maneuver on the trajectory of the at least one further road user (20, 22, 24) is determined, based on the driving maneuver data and the traffic data, and a characteristic variable is ascertained that describes the influence of the at least one driving maneuver on the at least one further road user (20, 22, 24). In addition, a system (34) for controlling a motor vehicle (10) is proposed.
    Type: Grant
    Filed: December 12, 2019
    Date of Patent: March 22, 2022
    Assignee: TRW AUTOMOTIVE GMBH
    Inventors: Manuel Schmidt, Christian Wissing, Andreas Homann, Christian Lienke, Torsten Bertram, Carlo Manna, Karl-Heinz Glander
  • Patent number: 11282387
    Abstract: A method and system generates a collision warning to a driver of a host vehicle. The system includes an on-board sensor of the host vehicle to detect presence of a preceding vehicle, wireless communication circuitry to establish wireless communication with a remote vehicle, and processing circuitry to detect existence of a slow remote vehicle ahead of the host vehicle, track an immediately preceding vehicle ahead of the host vehicle, confirm that the slow remote vehicle is affecting the host vehicle's lane speed of traffic by detecting that the immediately preceding vehicle is decelerating. When it is determined that, that the remote vehicle is sow, display an information message indicating the existence of the slow remote vehicle, and output, when the remote vehicle is slow and the preceding vehicle is decelerating, the collision warning as an audio sound and a visual message.
    Type: Grant
    Filed: February 26, 2020
    Date of Patent: March 22, 2022
    Assignee: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
    Inventors: Vladimeros Vladimerou, Derek Stanley Caveney
  • Patent number: 11283874
    Abstract: Disclosed herein are systems and methods for collectively optimizing cooperative actions among autonomous connected vehicles. A system may include a plurality of autonomous connected machines and/or vehicles that may establish a mesh network for communication amongst one another. Remote from the mesh network, the system may include a consortium configured to communicate with the mesh network, such as by cellular communication. The mesh network of connected vehicles may collectively receive, from the remote consortium, reliability information associated with the autonomous vehicles in the mesh network, and may collectively generate a shared map of the environment surrounding the plurality of autonomous connected vehicles in accordance with the reliability information. Based on the shared map, the mesh network of connected vehicles may collaboratively generate a collective navigation plan for the plurality of vehicles to navigate the environment.
    Type: Grant
    Filed: July 8, 2019
    Date of Patent: March 22, 2022
    Assignee: NOBLIS, INC.
    Inventor: Karl Eric Wunderlich
  • Patent number: 11276305
    Abstract: A system for predicting a road surface friction coefficient includes an external information acquisition part, a tire information acquisition part, and a friction coefficient prediction part. The external information acquisition part configured to acquire external information on a disturbance factor that affects a condition of a road surface on which a target vehicle travels. The tire information acquisition part configured to acquire tire information indicating a condition of a tire of the target vehicle. The friction coefficient prediction part configured to predict a friction coefficient between the tire and the road surface based on the tire information acquired by the tire information acquisition part and the external information acquired by the external information acquisition part. The friction coefficient prediction part predicts a friction coefficient of a road surface ahead of the target vehicle in a traveling direction.
    Type: Grant
    Filed: May 26, 2020
    Date of Patent: March 15, 2022
    Assignee: JTEKT CORPORATION
    Inventor: Satomi Kakehi
  • Patent number: 11267338
    Abstract: An apparatus comprising an interface, a memory and a processor. The interface may be configured to receive sensor data samples during operation of a vehicle. The memory may be configured to store the sensor data samples over a number of points in time. The processor may be configured to analyze the sensor data samples stored in the memory to detect a pattern. The processor may be configured to manage an application of brakes of the vehicle in response to the pattern.
    Type: Grant
    Filed: June 6, 2019
    Date of Patent: March 8, 2022
    Assignee: Invently Automotive Inc.
    Inventors: Martin Koebler, Nicole G. Goldstein, Stephen J. Brown, Jason H. Harper
  • Patent number: 11260858
    Abstract: A prediction device includes a camera configured to repeatedly image a region ahead of a vehicle, an extractor configured to extract a region including other vehicles from each of a plurality of images repeatedly captured by the camera, and a predictor configured to predict that a traffic jam will occur in a road on which there is the vehicle on the basis of a change in the region extracted from each of the plurality of images by the extractor between the images.
    Type: Grant
    Filed: January 3, 2020
    Date of Patent: March 1, 2022
    Assignee: Honda Motor Co., Ltd.
    Inventor: Takamasa Koshizen
  • Patent number: 11254310
    Abstract: A vehicle autonomous driving control apparatus for a vehicle includes: a processor that adjusts a control band for controlling an acceleration and a deceleration of the vehicle, based on a target acceleration and deceleration and an acceleration/deceleration response stage which sets a speed of responsiveness of the acceleration and deceleration of the vehicle to follow the target acceleration and deceleration; and a storage to store a driving pattern learning result calculated by the processor, the target acceleration and deceleration, and the control band.
    Type: Grant
    Filed: October 4, 2019
    Date of Patent: February 22, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Kyoung Jun Lee, Seung Joon Lee, Dong Gu Lee
  • Patent number: 11254314
    Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: February 22, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Sung Min Park, Na Eun Yang, Jin Su Jeong
  • Patent number: 11247336
    Abstract: A point stabilization control method includes determining a first displacement of the robot relative to the target object according to a position of the target object and an initial position of the robot; determining a to-be-offset displacement according to the first displacement and a second displacement of the target object relative to a target point and determining a target motion rate and a target motion direction of the robot according to the to-be-offset displacement and a mapping relation of a motion rate, a motion direction and the to-be-offset displacement; determining a current position of the robot according to the target motion rate and the target motion direction; and using the current position as the initial position and returning to the preceding steps until a distance between the current position of the robot and a position of the target point is less than a preset threshold.
    Type: Grant
    Filed: November 14, 2018
    Date of Patent: February 15, 2022
    Assignees: BOZHON PRECISION INDUSTRY TECHNOLOGY CO., LTD., SUZHOU BOZHON ROBOT CO., LTD.
    Inventors: Xiang Zhang, Yanyu Su, Dongyu Shen, Peng Zhang
  • Patent number: 11247677
    Abstract: A vehicle control device controls a vehicle on the basis of inter-vehicle spacing information with respect to a preceding vehicle and a trailing vehicle. The vehicle control device is equipped with: a target inter-vehicle spacing calculation unit which calculates target inter-vehicle spacing information on the basis of inter-vehicle spacing information with respect to the preceding vehicle and inter-vehicle spacing information with respect to a trailing vehicle. The vehicle control device is configured to control the speed of the vehicle such that the calculated target inter-vehicle spacing information is maintained.
    Type: Grant
    Filed: August 8, 2018
    Date of Patent: February 15, 2022
    Assignee: HITACHI ASTEMO, LTD.
    Inventors: Masato Imai, Takao Kojima, Kiyoshi Yorozuya, Jun Kezuka
  • Patent number: 11241721
    Abstract: Systems and methods for cleaning vehicle sensors are disclosed that optimize sensor cleaning fluid usage. An exemplary vehicle sensor cleaning system includes a sensor cleaning fluid delivery system that delivers sensor cleaning fluid to a sensor of a vehicle and a sensor cleaning control system in communication with the sensor cleaning fluid delivery system. The sensor cleaning control system determines a target cleanliness level for the sensor based on sensor cleaning data associated with the sensor. The target cleanliness level is less than a maximum cleanliness level indicating indicates a contaminate-free sensor. The sensor cleaning control system further monitors a cleanliness level of the sensor and initiates a sensor cleaning operation when the cleanliness level of the sensor is less than an operational cleanliness threshold, such that the sensor cleaning fluid delivery system delivers sensor cleaning fluid to the sensor to clean the sensor to the target cleanliness level.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: February 8, 2022
    Assignee: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
    Inventor: Chase Violetta
  • Patent number: 11235764
    Abstract: A driver assistance system is provided in a motor vehicle, which driver assistance system executes at least active transverse guidance interventions. The driver assistance system can be activated while decoupled from the activation of a longitudinal control system but can also be active both, with and without longitudinal control, and includes both a traffic jam assistance sub-function and a track guiding assistant sub-function. The two sub-functions can be jointly activated and deactivated by a single on-/off-button. The driver assistance system is characterized by a special combination of the sub-functions track guiding assistance and traffic jam assistance. They each take turns depending on the presence of conditions, which are defined differently for each sub-function.
    Type: Grant
    Filed: October 16, 2017
    Date of Patent: February 1, 2022
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventors: Andreas Bogner, Andreas Mueller, Daniel Simmermacher, Hans-Peter Hank, Manfred Paul, Martin Froehlich, Mehdi Farid, Nico Kaempchen, Norman Hauke, Thomas Barmeyer
  • Patent number: 11227395
    Abstract: A method for determining a motion vector field is provided, comprising: determining an optical flow of a spatial point in a scene according to different frames of images acquired by an image acquisition unit; determining a movement velocity of the spatial point in a coordinate system of the image acquisition unit according to spatial point data; determining a first order derivative of a projection of the spatial point on an image plane according to the spatial point data; and determining a velocity vector of the spatial point according to intrinsic parameters, a rotation matrix in a global coordinate system, a movement velocity, and an angular velocity, of the image acquisition unit, as well as a pose, the optical flow, the movement velocity in the coordinate system of the image acquisition unit, and the first order derivative of the projection on the image plane, of the spatial point.
    Type: Grant
    Filed: September 6, 2019
    Date of Patent: January 18, 2022
    Assignee: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.
    Inventors: Yuanfan Xie, Liang Wang
  • Patent number: 11214256
    Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: January 4, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Sung Min Park, Na Eun Yang, Jin Su Jeong
  • Patent number: 11215458
    Abstract: Disclosed herein is a method of determining an optimal route for a vessel based on vessel traffic data. The method comprises receiving vessel traffic data relating to the movement of each of a plurality of vessels in a geographical region and defining sub-regions within the geographical region in which the vessel traffic data has similar characteristics. The method also comprises determining an optimal route for a vessel between two geographical points using a representation of the geographical region. The representation comprises nodes, and each node is associated with a respective defined sub-region.
    Type: Grant
    Filed: December 7, 2018
    Date of Patent: January 4, 2022
    Assignee: MARITECH DEVELOPMENT LIMITED
    Inventors: Craig Lucas, Richard White, Eliad Perpinyal, Roy Michael Cockram
  • Patent number: 11212654
    Abstract: According to one or more aspects, a system for coordinated driving may include a vehicle communication system receiving a proposed driving maneuver from a tractor vehicle, an input device receiving a response to the proposed driving maneuver from an occupant of a trailer vehicle, and a route generation module generating a route corresponding to the proposed driving maneuver based on the response to the proposed driving maneuver. The tractor vehicle may be engaged in segment-by-segment coordinated driving with the trailer vehicle utilizing a cooperative adaptive cruise control (CACC) module.
    Type: Grant
    Filed: April 2, 2018
    Date of Patent: December 28, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Xue Bai, Ehsan Moradi-Pari
  • Patent number: 11207980
    Abstract: An apparatus comprising an interface, a memory and a processor. The interface may be configured to receive sensor data samples during operation of a vehicle. The memory may be configured to store the sensor data samples over a number of points in time. The processor may be configured to analyze the sensor data samples stored in the memory to detect a pattern. The processor may be configured to manage an application of brakes of the vehicle in response to the pattern.
    Type: Grant
    Filed: June 6, 2019
    Date of Patent: December 28, 2021
    Assignee: Invently Automotive Inc.
    Inventors: Martin Koebler, Nicole G. Goldstein, Stephen J. Brown, Jason H. Harper
  • Patent number: 11203343
    Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller holds a target position selected from one or more target position candidates from a start time point according to a type of lane change to a point in time at which a prescribed condition is satisfied when the driving controller causes the host vehicle to make the lane change.
    Type: Grant
    Filed: June 4, 2019
    Date of Patent: December 21, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Chihiro Abe, Nana Niibo, Katsuya Yashiro
  • Patent number: 11198393
    Abstract: A camera calibration method includes obtaining a plurality of images of surroundings of a vehicle captured by a plurality of cameras, setting a region of interest (ROI) in each of the images, detecting one or more feature points of the set ROIs, matching a first feature point of a first ROI and a second feature point of a second ROI based on the detected feature points, calculating a first bird-view coordinate of the first feature point and a second bird-view coordinate of the second feature point, and calibrating the cameras by adjusting an extrinsic parameter of each of the cameras based on an error between the first bird-view coordinate and the second bird-view coordinate.
    Type: Grant
    Filed: June 23, 2020
    Date of Patent: December 14, 2021
    Assignee: VADAS Co., Ltd.
    Inventors: Hee Soo Kim, Jeong Mok Ha, Byeong Chan Jeon, Jun Seok Lee
  • Patent number: 11192555
    Abstract: A vehicle controller includes: a determination unit configured to determine a preparatory speed of a vehicle in a merging lane based on a relative speed between a first main lane vehicle traveling on a main lane and the vehicle, the first main lane vehicle being detected by a front sensor of the vehicle; a preparation unit configured to adjust speed of the vehicle such that the speed of the vehicle coincides with the preparatory speed; and a merging control unit configured to merge the vehicle into the main lane from the merging lane based on at least a detection result of a side sensor of the vehicle and the speed of the vehicle, when the vehicle is in a situation where the main lane vehicle is recognizable based on the detection result of the side sensor, after the preparation unit starts speed adjustment of the vehicle.
    Type: Grant
    Filed: November 13, 2019
    Date of Patent: December 7, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Ryo Hashimoto, Yoshinori Watanabe, Masaaki Yamaoka, Kenichiro Aoki
  • Patent number: 11180144
    Abstract: The driving support control device is configured to, when a preceding vehicle is detected (S24: YES), be permitted to cause a transition to the preceding vehicle following mode, in response to a manipulation made by the driver to select the preceding vehicle following mode (S27), and then control the vehicle 1 to follow the preceding vehicle, and to, when edges of a traveling road are detected even though no preceding vehicle is detected (S25: YES), be permitted to cause the transition to the preceding vehicle following mode, in response to the manipulation made by the driver to select the preceding vehicle following mode (S26), and then control the vehicle 1 to travel on and along a given target traveling course set based on the edges of the traveling road.
    Type: Grant
    Filed: February 16, 2018
    Date of Patent: November 23, 2021
    Assignee: MAZDA MOTOR CORPORATION
    Inventors: Hiroshi Ohmura, Sahori Iimura
  • Patent number: 11180151
    Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: November 23, 2021
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Sung Min Park, Na Eun Yang, Jin Su Jeong
  • Patent number: 11173903
    Abstract: A method and an apparatus for controlling vehicle driving are provided. The method includes: determining, by a computing device according to a speed of a preceding vehicle, a distance between a present vehicle and the preceding vehicle, and a preset expected collision time, a speed limit imposed by the preceding vehicle on the present vehicle; and determining a road-condition-related speed limit on the present vehicle according to road attribute information of a current location of the present vehicle. The method also includes determining, by the computing device, a comprehensive speed limit on the present vehicle according to the speed limit imposed by the preceding vehicle on the present vehicle and the road-condition-related speed limit; and generating, by the computing device, a driving control signal for the present vehicle based on the comprehensive speed limit.
    Type: Grant
    Filed: September 19, 2019
    Date of Patent: November 16, 2021
    Assignee: TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
    Inventor: Bin Wang
  • Patent number: 11167759
    Abstract: Operating a subject vehicle equipped with an adaptive cruise control system includes setting initial states for control parameters, including setting a desired vehicle speed and determining a desired following gap range, wherein the desired following gap range is associated with a lead vehicle. Operation is controlled via the adaptive cruise control system based upon the initial states for the control parameters. Operation also includes monitoring for presence of the lead vehicle. Upon detecting presence of the lead vehicle, an actual following gap is determined between the subject vehicle and the lead vehicle, and the initial states of the control parameters associated with the adaptive cruise control system are adjusted based upon the actual following gap between the subject vehicle and the lead vehicle, and the desired following gap range. Operation is controlled via the adaptive cruise control system based upon the adjusted initial states of the control parameters.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: November 9, 2021
    Assignee: GM Global Technology Operations LLC
    Inventors: Junfeng Zhao, Yiran Hu, Dongxu Li, Steven E. Muldoon, Chen-Fang Chang
  • Patent number: 11163299
    Abstract: Provided is a control device which controls at least one of unmanned vehicles forming a group of unmanned vehicles that includes one vehicle, the control device acquires information on a state of another vehicle, calculates comparison values for plural kinds of actions by using acquired information on the one vehicle and the another vehicle, selects an action that the one vehicle is to take, based on comparison values for the plural kinds of actions, calculates an operation amount of the one vehicle by using information on an selected action and acquired information on a state of the another vehicle, and sets an operation setting value of an actuator for operating the one vehicle by using the calculation result.
    Type: Grant
    Filed: December 5, 2017
    Date of Patent: November 2, 2021
    Assignee: NEC CORPORATION
    Inventors: Masatsugu Ogawa, Masumi Ichien, Masafumi Emura
  • Patent number: 11161524
    Abstract: Disclosed is a vehicle acceleration compensation system, including an accelerator pedal, throttle, and a transmission configured to shift between two or more fixed gears, wherein each gear relates the motor power to a vehicle torque. The system also includes a control unit configured to receive data from one or more sensors. The control unit includes a real-time throttle map relating the accelerator pedal position to the throttle position, such that a given accelerator pedal position directs a corresponding target throttle position, and a real-time shift map relating a desired transmission gear to a current transmission gear, current vehicle speed, and current throttle position, such that a given vehicle speed, given throttle position, and given transmission gear directs a corresponding target transmission gear. In response to sensor data, the control unit updates the throttle map and shift map such that the vehicle torque is altered to produce a desired acceleration value.
    Type: Grant
    Filed: June 10, 2019
    Date of Patent: November 2, 2021
    Assignee: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
    Inventors: Sandeep Kumar Reddy Janampally, Alejandro M. Sanchez, Christian Tjia
  • Patent number: 11158190
    Abstract: A recommended driving output device, system, and method allow for outputting preferable information to a driver.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: October 26, 2021
    Assignee: CLARION CO., LTD.
    Inventor: Masashi Akachi
  • Patent number: 11157017
    Abstract: A vehicular system (1) includes a lateral shift amount measurement part that has a plurality of magnetic sensors that senses magnetism of magnetic markers (10) arrayed along a vehicle width direction and measures a lateral shift amount that is a positional deviation of a vehicle (5) in a vehicle width direction with respect to the magnetic markers (10) and a course estimation part that uses a difference between the lateral shift amounts with respect to two magnetic markers (10) disposed with a space provided therebetween in a road surface (100S) where the vehicle (5) travels and estimates a deviation of the vehicle (5) in a traveling direction with respect to a line segment direction connecting the positions of the two magnetic markers.
    Type: Grant
    Filed: August 24, 2017
    Date of Patent: October 26, 2021
    Assignee: AICHI STEEL CORPORATION
    Inventors: Michiharu Yamamoto, Tomohiko Nagao, Hitoshi Aoyama
  • Patent number: 11136028
    Abstract: A speed controller for a leading vehicle includes: a communication device that receives a target acceleration and a current acceleration from a following vehicle; and a controller that predicts a time when the following vehicle brakes based on the received target acceleration and the received current acceleration when the leading vehicle coasts down, and increases a speed of the leading vehicle at the predicted time.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: October 5, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Kyung Joo Bang, Hong Gi Park, Sang Yeob Lee, Il Hwan Kim, Seung Hyun Kim, Dong Hyuk Kim