Having Inter-vehicle Distance Or Speed Control Patents (Class 701/96)
  • Patent number: 11084418
    Abstract: An apparatus for outputting platooning information by a platooning vehicle in a platooning group may include: one or more lamps configured to project light onto a road; a communication circuit; a controller configured to control a platooning operation of the vehicle; and a control circuit electrically connected with the one or more lamps, the communication circuit, and the controller. The control circuit may be configured to: control the one or more lamps so as to output on the road a distance range between the platooning vehicle and an outside vehicle that is not part of the platooning group when a request from the outside vehicle to join the platooning group is approved by the platooning vehicle or a leading vehicle of the platooning group. The distance range may be a distance required to join the platooning group.
    Type: Grant
    Filed: May 22, 2020
    Date of Patent: August 10, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventor: Jeong Ki Hong
  • Patent number: 11072328
    Abstract: A control-target vehicle setting apparatus sets a control-target vehicle that serves as a target for driving assistance control. The control-target vehicle setting apparatus includes a detection signal acquiring unit and a setting control unit. The detection signal acquiring unit acquires a first detection signal that indicates a target by an image and a second detection signal that indicates a target by a reflection point. The setting control unit sets an acquired forward target as the control-target vehicle when the forward target is associated with an integration history that indicates that the forward target has been determined to be a vehicle using the first detection signal and the second detection signal in an integrated manner, even when the forward target is not associated with a movement history that indicates that the forward target has been detected as being a moving object.
    Type: Grant
    Filed: September 27, 2018
    Date of Patent: July 27, 2021
    Assignees: DENSO CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yohei Masui, Takashi Maeda, Naoki Kusumoto, Yuki Tezuka
  • Patent number: 11072329
    Abstract: Ground vehicle control techniques adapted to reduce energy consumption, braking, shifting, travel distance, travel time, and or the like. The techniques can generate a target speed window and a target vehicle performance plan for controlling operation of a ground vehicle along a current and one or more upcoming segments of a roadway responsive to the dynamic driving environment.
    Type: Grant
    Filed: March 15, 2019
    Date of Patent: July 27, 2021
    Assignee: Traxen Inc.
    Inventors: Ali Maleki, Michael Makowski, Naren Reddy Dhansri, Nabil H K Hirzallah, Gerti Tuzi
  • Patent number: 11050473
    Abstract: At least one of an autonomous vehicle, a user terminal, and a server may be connected or converged with an artificial intelligence (AI) module, an unmanned aerial vehicle (UAV), a robot, an augmented reality (AR) device, a virtual reality (VR) device, a device associated with a 5G service, and the like. Provided is a communication method of a mobile communication terminal, the method including identifying at least one target platoon for signal transmission, acquiring information related to driving of the at least one target platoon, identifying antenna heading corresponding to the information related to driving, and transmitting a signal to the at least one target platoon based on the antenna heading.
    Type: Grant
    Filed: January 14, 2020
    Date of Patent: June 29, 2021
    Assignee: LG Electronics Inc.
    Inventors: Suho Park, Cheolseung Kim
  • Patent number: 11046333
    Abstract: A drive-assisted vehicle control device includes a controller that controls travel of a host vehicle. During travel on a curved route, the controller establishes a threshold value established as a boundary value for suppressing acceleration of the host vehicle. The threshold value is lower when another vehicle is present on an outside-peripheral-side curved route adjacent to a host-vehicle travel lane than when another vehicle is not present on the outside-peripheral-side curved route. The controller determines whether a lateral acceleration is greater than the threshold value during travel on a curved route. The controller permits accelerating travel on the curved route upon determining that the lateral acceleration is less than or equal to the threshold value, but suppresses accelerating travel on the curved route when upon determining that the lateral acceleration is greater than the threshold value.
    Type: Grant
    Filed: August 24, 2017
    Date of Patent: June 29, 2021
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Yuta Akamatsu, Masahiro Kobayashi, Yasuhisa Taira, Osamu Fukata
  • Patent number: 11046181
    Abstract: An apparatus for controlling a transmission of a vehicle includes: a determination device that decides whether to perform a forward vehicle-based deceleration tracking control, based on information of the vehicle and a forward vehicle, when the vehicle starts to coast; a calculation device that calculates a target velocity and a target distance based on a position and a velocity of the forward vehicle, when the forward vehicle-based deceleration tracking control is decided to be performed; a gear position decision device that constructs deceleration profiles for respective gears and decides a final gear based on the target velocity and the target distance calculated; and a controller that controls the transmission based on the final gear.
    Type: Grant
    Filed: November 7, 2019
    Date of Patent: June 29, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Byeong Wook Jeon, Dong Hoon Jeong, Jae Chang Kook, Kwang Hee Park
  • Patent number: 11046312
    Abstract: A vehicle travel support device includes: a guide route setting unit; a travel environment information acquisition unit; a target traveling path setting unit; an inter-vehicle distance keep control unit; a lateral movement amount calculation unit; an obstacle avoidance action detection unit; and a preceding vehicle following controller. The guide route setting unit sets a guide route for a host vehicle. The travel environment information acquisition unit acquires travel environment information. The target traveling path setting unit sets a target traveling path. The inter-vehicle distance keep control unit causes the host vehicle to travel to keep a set distance from a preceding vehicle. The lateral movement amount calculation unit calculates a lateral movement amount of the preceding vehicle. The obstacle avoidance action detection unit detects an obstacle avoidance action of the preceding vehicle.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: June 29, 2021
    Assignee: SUBARU CORPORATION
    Inventors: Satoshi Terayama, Masatoshi Hoshina, Yasuhiro Sekijima, Keisuke Kuwahara
  • Patent number: 11029150
    Abstract: The purpose of the present invention is to provide an imaging device capable of both improving object detection accuracy and reducing calculation load. The present invention comprises: a plurality of imaging units; an object information acquisition unit that obtains object information including distance information for objects; a search conditions setting unit that sets conditions for searching for image elements corresponding to specific image elements inside a standard image captured by one of the plurality of imaging units, same being searched for inside a reference image captured by another imaging unit; and a stereo distance detection unit that performs said search on the basis of conditions set by the search conditions setting unit and detects the object distance on the basis of parallax obtained by the search. The search conditions setting unit sets the search range for searches, on the basis of the detection information for the object.
    Type: Grant
    Filed: May 31, 2017
    Date of Patent: June 8, 2021
    Assignee: Hitachi Automotive Systems, Ltd.
    Inventors: Manabu Sasamoto, Shinichi Nonaka
  • Patent number: 11027736
    Abstract: An anticipatory lane change system is described for assisting a host vehicle positioned in a current lane that is adjacent an adjacent lane. The anticipatory lane change system may include an identification module that identifies a potential lane change location and receives proximate vehicle data associated with proximate vehicles. The anticipatory lane change system may include a prediction module that predicts future kinematic data at a future time for a set of the proximate vehicles. The anticipatory lane change system may include a determination module that determines whether a gap will be available at the potential lane change location at the future time based on the future kinematic data. The anticipatory lane change system may include a lane change module that initiates a lane change maneuver for the host vehicle in response to determining that the gap will be available at the potential lane change location at the future time.
    Type: Grant
    Filed: April 27, 2018
    Date of Patent: June 8, 2021
    Assignees: HONDA MOTOR CO., LTD., THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Samer Rajab, Xue Bai, Guoyuan Wu, Kanok Boriboonsomsin, Matthew J. Barth, Nigel Williams
  • Patent number: 11021156
    Abstract: A lane change support apparatus includes an electronic control unit configured to, when it is recognized that there is an abnormality in a driver of a host vehicle, determine whether or not lane change is possible. The electronic control unit is configured to determine that the lane change is possible when a vehicle speed of the host vehicle is lower than a predetermined upper limit speed, a following vehicle present closest to the host vehicle has stayed in a rear guard vehicle approval range for a predetermined time or longer, and a vehicle is not present in a lane change allowance gap.
    Type: Grant
    Filed: June 25, 2020
    Date of Patent: June 1, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Taiyo Uejima
  • Patent number: 11021155
    Abstract: A vehicle control apparatus performs during-following control in which, when a direction indicator of an own vehicle is operated during traveling in which a preceding vehicle is followed, the own vehicle is accelerated in conjunction with the operation of the direction indicator. An adjacent vehicle selecting unit selects, from other vehicles present ahead of the own vehicle, an adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the own vehicle based on a lateral position that is a relative position relative to the own vehicle in a direction orthogonal to a travelling direction of the own vehicle and a relative distance to the own vehicle in the travelling direction. An acceleration control unit performs acceleration of the own vehicle by the during-following control based on whether or not the adjacent vehicle is selected when the direction indicator is operated during following-traveling.
    Type: Grant
    Filed: June 15, 2017
    Date of Patent: June 1, 2021
    Assignees: DENSO CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Mitsuhiro Tokimasa, Takuma Sudo, Takashi Maeda, Takeshi Nanami, Minoru Nakadori
  • Patent number: 11016505
    Abstract: A vehicle configured to be autonomously navigated in a peloton along a roadway, wherein the peloton comprises at least the vehicle at least one additional vehicle, is configured to determine a position of the vehicle in the peloton which reduces differences in relative driving ranges among the vehicles included in the peloton. The vehicles can dynamically adjust peloton positions while navigating to reduce driving range differences among the vehicles. The vehicle can include a power management system which enables the vehicle to be electrically coupled to a battery included in another vehicle in the peloton, so that driving range differences between the vehicles can be reduced via load sharing via the electrical connection. The vehicle can include a power connector arm which extends a power connector to couple with an interface of another vehicle.
    Type: Grant
    Filed: October 19, 2018
    Date of Patent: May 25, 2021
    Assignee: Apple Inc.
    Inventors: Randol W. Aikin, Malcolm J. Northcott
  • Patent number: 11008007
    Abstract: A vehicle control apparatus is provided with: an acquirer configured to obtain an expected end timing of a first deceleration support control, which is a deceleration support control for a first target, and an expected start timing of a second deceleration support control, which is the deceleration support control for a second target, if there is the first target as a deceleration target ahead of a host vehicle in the traveling direction and if there is the second target as the deceleration target ahead of the first target; and a controller programmed or configured to perform an interpolation deceleration support control of interpolating the first deceleration support control and the second deceleration support control, in a predetermined period including at least a part of an interval between the expected end timing and the predicted start timing, if the interval is less than a first time.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: May 18, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kohei Tochigi, Shin Tanaka, Masahiko Adachi, Shogo Ito
  • Patent number: 11008003
    Abstract: A safety device (DS) equips a first vehicle (V1) comprising analysis means (MA1-MA2) suitable for analyzing its environment. This device (DS) comprises control means (MC) designed, when the first vehicle (V1) is stationary and has its contact open, and in the presence of a risk of collision of the first vehicle (V1) by a second vehicle (V2) travelling behind it, to determine whether there exists in this analysed environment at least one empty zone (ZV1) accessible by the first vehicle (V1), and, in the affirmative, to determine for the latter (V1) a trajectory in this empty zone (ZV1) suitable at least for limiting the consequences of this collision, and then to trigger a displacement of the first vehicle (V1) according to this determined trajectory. The device considers the presence of a third vehicle (V3) travelling on another lane (VC3), in the environment of the first vehicle.
    Type: Grant
    Filed: July 7, 2017
    Date of Patent: May 18, 2021
    Assignee: PSA AUTOMOBILES SA
    Inventor: Youssef Chikh
  • Patent number: 10946860
    Abstract: A vehicle control apparatus is provided with: a calculator configured to calculate a plurality of controlled variables for decelerating a host vehicle, if there are a plurality of deceleration targets ahead in a traveling direction of the host vehicle, in association with the plurality of deceleration targets; an output device configured to select and output one controlled variable from the plurality of controlled variables; and a controller programmed to perform the deceleration support control on the basis of the one controlled variable. When a deceleration support control is performed on the basis of a first controlled variable as the one controlled variable, the output device outputs a second controlled variable, which is different from the first controlled variable out of the plurality of controlled variables, instead of the first controlled variable as the one controlled variable, on condition that the second controlled variable is greater than a switching controlled variable.
    Type: Grant
    Filed: March 28, 2019
    Date of Patent: March 16, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kohei Tochigi, Shin Tanaka, Masahiko Adachi, Shogo Ito
  • Patent number: 10943133
    Abstract: A vehicle control device includes a recognizer and a driving controller. The driving controller operates at least in one of a first control state and a second control state in which a automation rate is higher than the first control state or a lower level of task is required of an occupant than the first control state. The driving controller does not suppress operation in the second control state if a traffic sign recognized by the recognizer is a sign indicating a speed limit equal to or higher than a predetermined speed and suppresses operation in the second control state if the traffic sign is a sign indicating a speed limit less than the predetermined speed.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: March 9, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Yoshihiro Oniwa, Hironobu Kiryu, Mahito Shikama
  • Patent number: 10935127
    Abstract: A control system, apparatus, and method integrates vehicle speed management and predicted gear shifting of a vehicle by determining current and future engine power requirements from the current and forward-looking route conditions to improve performance, drivability, and/or fuel economy of the vehicle over what is achievable through conventional gear state selection via static calibration tables and conventional shifting strategies. The selection of the vehicle reference speed is responsive to a gear selection to provide increased fuel economy, decreased trip time or combinations thereof.
    Type: Grant
    Filed: July 22, 2019
    Date of Patent: March 2, 2021
    Assignee: Cummins Inc.
    Inventors: Apurva A. Chunodkar, Zachary A. Knutson, Kenneth M. Follen, Vivek A. Sujan
  • Patent number: 10919531
    Abstract: A method in a transportation vehicle for an automatic drive which includes detecting additional transportation vehicles in the surroundings of the transportation vehicle by at least one sensor system, detecting and identifying lanes by the at least one sensor system, assigning the detected additional transportation vehicles to the detected lanes by a controller, and identifying and evaluating an intention to pass of another transportation vehicle by a pass assistance device. If an intention to pass has been identified, the method also includes calculating a total use of a possible lane change by a predictive device and adapting a drive behavior of the transportation vehicle by the controller, wherein the possible lane change is carried out if the calculated total use reaches or exceeds a specified total use threshold, and the possible lane change is not carried out if the calculated total use does not exceed the specified total use threshold.
    Type: Grant
    Filed: September 13, 2016
    Date of Patent: February 16, 2021
    Inventors: Simon Ulbrich, Simon Grossjohann, Kai Homeier, Christian Appelt
  • Patent number: 10919600
    Abstract: A motor driving control apparatus for a motor-assisted vehicle such as a motor-assisted bicycle includes: an inverter configured to drive a motor; and a controller configured to control the inverter to start regeneration after lapse of a first time period since a second predetermined time period elapsed or gradually increase a regeneration amount, when a state that an acceleration of a vehicle on which the motor is embodied is negative and equal to or less than a first predetermined value continues for the second predetermined time period.
    Type: Grant
    Filed: September 13, 2018
    Date of Patent: February 16, 2021
    Assignee: TAIYO YUDEN CO., LTD.
    Inventors: Yasuo Hosaka, Hirokazu Shirakawa, Taichi Yanaoka
  • Patent number: 10919444
    Abstract: Aspects of example systems and methods described herein discuss providing indications from a vehicle to other locations based on a variety of attributes. Indications may take the form of an indicator message. Indications may include information associated with whether one or more vehicles are platooning. Indications may be prevented from being distributed if one or more vehicles are not platooning. Law enforcement may be able to receive information indicating whether a vehicle is platooning in order to know whether to issue a ticket to the vehicle.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: February 16, 2021
    Assignee: Peloton Technology, Inc.
    Inventor: Joshua P Switkes
  • Patent number: 10916133
    Abstract: The invention relates to a method for determining an optimum speed (VOPT) to be adopted by a motor vehicle (1) when said motor vehicle (1) is approaching a traffic light (2). According to said method a first GLOSA-type on-board system (10) determines, upon receiving a message emitted by said traffic light (2), a total distance (DTL) of travel separating the motor vehicle (1) from the traffic light (2), then estimates the time necessary for the motor vehicle (1) to travel said total distance (DTL), and finally defines a recommended speed (VQ) based on the status of the traffic light (2) at the end of the estimated time. The method is characterised in that it also uses at least one speed limitation produced via a second system (12; 13) on board said motor vehicle such as to determine said recommended speed (VQ) and/or said optimum speed (VQPT).
    Type: Grant
    Filed: October 8, 2015
    Date of Patent: February 9, 2021
    Assignee: Valeo Schalter und Sensoren GmbH
    Inventors: Benazouz Bradai, Alexandre Garnault
  • Patent number: 10915116
    Abstract: Distributed traffic scheduling for autonomous self-driving vehicles includes forming a vicinity group of autonomous vehicles by pinging each other using vehicle-to-vehicle communication. A leader vehicle of the vicinity group is elected by transmitting an election messages between each of the autonomous vehicles, each autonomous vehicle responding to a received election message with a vote, the leader vehicle being elected by receiving the most votes. Preferences of a driver of each of the autonomous vehicles are predicted with a classifier by extracting preference labels from online account data. Trip deadline is determined for each autonomous vehicle according to the preferences. Each of the autonomous vehicles in the vicinity group is scheduled to prevent exceeding the trip deadline by performing earliest deadline first scheduling by the leader vehicle. Maneuvers of each of the autonomous vehicles in the vicinity group are controlled according to the scheduling.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: February 9, 2021
    Assignee: International Business Machines Corporation
    Inventors: Qi Ming Teng, Jinho Hwang
  • Patent number: 10913410
    Abstract: A system includes a processor configured to receive a user profile responsive to an efficiency determination request for a vehicle model. The processor is also configured to obtain efficiency-affecting data from the user profile. The processor is further configured to compare the efficiency-affecting data to data gathered from drivers of the vehicle model, to determine a correlation between the user profile and similar drivers of the vehicle model. Also, the processor is configured to predict fuel efficiency for the new vehicle model based on efficiency achieved by the similar drivers.
    Type: Grant
    Filed: January 12, 2018
    Date of Patent: February 9, 2021
    Assignee: Ford Global Technologies, LLC
    Inventors: Patrick Lawrence Jackson Van Hoecke, Hamid M. Golgiri, Anthony Melatti
  • Patent number: 10908617
    Abstract: A vehicle platooning system to operate vehicles in a platoon in an appropriate order. The vehicle platooning system is applied to a vehicle that can be operated autonomously. A controller obtains information about each of the vehicles participating in the platoon including a straight line stability upon satisfaction of a condition to form a platoon with other vehicles, and assigns the vehicle having a relatively good straight line stability to a leader vehicle in the platoon.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: February 2, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hiroaki Kodera, Takahito Endo, Kensei Hata, Naoki Harayama, Katsuya Iwazaki, Yushi Seki
  • Patent number: 10908605
    Abstract: In a driving assist system, a driving assist device as a control device acquires driving control information to be used for performing a driving control process in which an own vehicle follows a preceding vehicle running on the same lane of the own vehicle in front of the own vehicle. The driving assist device performs the driving control process of the own vehicle based on the acquired driving control information. The driving assist device detects an interruption of a preceding-vehicle following of the own vehicle. In the preceding-vehicle following, the own vehicle follows the preceding vehicle running on the same lane. The driving assist device decelerates a vehicle speed of the own vehicle by using a predetermined braking force when detecting the interruption of the preceding-vehicle following of the own vehicle during the preceding-vehicle following.
    Type: Grant
    Filed: August 2, 2018
    Date of Patent: February 2, 2021
    Assignee: DENSO CORPORATION
    Inventors: Hiroaki Niino, Masayoshi Ooishi, Hiroshi Ishikawa
  • Patent number: 10907962
    Abstract: A driving assistance system mounted in a vehicle includes a driving assistance control device configured to determine whether or not an object is a monitoring target. The driving assistance control device is configured to calculate an inclination direction of a detection surface of the object in a reference coordinate system fixed with respect to the vehicle in a horizontal plane. A first inclination state is a state where an angle formed by the inclination direction and a lateral direction of the vehicle is less than a first threshold. A second inclination state is a state where the angle is greater than a second threshold that is equal to or greater than the first threshold. The driving assistance control device is configured to determine the object in the first inclination state as the monitoring target and to exclude the object in the second inclination state from the monitoring target.
    Type: Grant
    Filed: May 24, 2018
    Date of Patent: February 2, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Tadashi Omachi
  • Patent number: 10900804
    Abstract: A solution including a method, a system, and a computer program product are provided herein in accordance with at least one example embodiment for identification of at least one road work extension in a geographical location. The solution includes the process of building and accessing of a map for the geographic location curated with the marking of one or more road work zones corresponding to the at least one road work extensions. The method includes the steps of obtaining multiple speed funnels of a route and validating at least one speed funnel based on the sign value of a last learned speed sign of the speed funnel. The method further generates the road work extension data associated with the road work extension based on the last learned speed sign and a result.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: January 26, 2021
    Assignee: HERE Global B.V.
    Inventors: Zhenhua Zhang, Leon Stenneth
  • Patent number: 10902730
    Abstract: Provided is a vehicle control device capable of reducing unease experienced by a driver and assisting a lane change of a vehicle. A vehicle control device 10 assists a lane change of a vehicle 1, said device comprising: a visible range calculation unit 11 that calculates an area as a visible range by excluding the area occupied by preceding vehicles 201, 202 from the area corresponding to the field of vision whilst driving; and a lane-change control unit 12 that conducts processing related to the lane change, on the basis of the calculated visible range. The lane-change control unit 12 conducts processing related to the lane change on the basis of the visible range of the current-travel lane of the vehicle, and the visible range of the intended change-destination lane of the vehicle.
    Type: Grant
    Filed: June 20, 2018
    Date of Patent: January 26, 2021
    Assignee: HITACHI AUTOMOTIVE SYSTEMS, LTD.
    Inventors: Yoichi Iihoshi, Koichi Terui, Yuichi Komoriya, Yuuki Okuda, Yuto Imanishi
  • Patent number: 10889304
    Abstract: A vehicle control device includes: an automatic driving control unit that executes a first driving mode in which at least one of acceleration/deceleration, and steering of a host vehicle is automatically controlled in order for the host vehicle to travel along a route up to a destination; and a specific situation transition control unit that encourages a vehicle occupant of the host vehicle to transition to a second driving mode in which the degree of automatic driving is lower in comparison to the first driving mode by decelerating the host vehicle in a case of terminating execution of the first driving mode at a scheduled termination point of the first driving mode.
    Type: Grant
    Filed: February 19, 2016
    Date of Patent: January 12, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Kunimichi Hatano
  • Patent number: 10882519
    Abstract: An apparatus for setting a speed of a vehicle is provided. The apparatus includes a first camera, a second camera, a navigation, and a processor. The processor detects inattention of a driver of the vehicle based on an operation for a steering device of the vehicle, an operation for a deceleration device of the vehicle, an operation for an acceleration device of the vehicle, or an image obtained by the first camera. The processor also obtains information associated with a lane of a road in which the vehicle is traveling and information associated with a surrounding vehicle based on an image obtained by the second camera, a heading angle of the vehicle, a speed of the vehicle, a yaw rate of the vehicle, a trajectory of the surrounding vehicle, or a curvature of the road, obtained by the navigation, and performs deceleration control.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: January 5, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Hoi Won Kim, Doo Jin Um, Dong Gu Lee, Dong Eon Oh, Hyun Jae Yoo, Beom Jun Kim, Dae Young Kim, Young Min Han, Seung Geon Moon, Sung Woo Choi, Chan Il Park, Sung Yoon Yeo, Kyoung Jun Lee, Min Chul Kang
  • Patent number: 10864908
    Abstract: A vehicle control ECU calculates an absolute velocity of an object from a vehicle velocity and a relative velocity of the object, and performs collision avoidance control with respect to the object based on the calculated absolute velocity. The vehicle control ECU includes a brake determination unit that determines whether a brake device in the vehicle has been activating in a period during which the absolute velocity is calculated, and a calculation unit that, after the activation of the brake device, calculates a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device.
    Type: Grant
    Filed: February 22, 2017
    Date of Patent: December 15, 2020
    Assignee: DENSO CORPORATION
    Inventor: Ryo Takaki
  • Patent number: 10868997
    Abstract: A recording control device includes: a video data acquisition unit configured to acquire data on a video obtained by shooting an outside of a vehicle; a buffer memory configured to temporarily store the data on the video; an event detection unit configured to detect occurrence of a predetermined event; a traveling information acquisition unit configured to acquire traveling information on the vehicle; and a recording control unit configured to determine a first period based on the traveling information and to record the data on the video, among the data on the video stored in the buffer memory, obtained from a time point as far back as the first period before the time point of detection of the event until a time point at which a second period has passed since the time point of detection of the event.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: December 15, 2020
    Assignee: JVCKENWOOD Corporation
    Inventors: Takuji Teruuchi, Akinori Sugata, Tsuneo Satomi, Toshio Mori
  • Patent number: 10850737
    Abstract: A driving lane changing apparatus of a host vehicle comprises a microcontroller. The microcontroller detects information about one or more vehicles traveling in a neighboring lane from a current lane of the host vehicle based on sensing information generated by a sensor of the host vehicle, determines whether the host vehicle is allowed to move to the neighboring lane based on the sensing information, controls the host vehicle to move adjacently to a line distinguishing between the current lane of the host vehicle and the neighboring lane, calculates longitudinal relative distance information between the host vehicle and the one or more vehicles at a preset time point in which the host vehicle moves to the line, and re-determines whether the host vehicle is allowed to move to the neighboring lane based on the calculated longitudinal relative distance information at the preset time point.
    Type: Grant
    Filed: November 1, 2017
    Date of Patent: December 1, 2020
    Assignee: MANDO CORPORATION
    Inventor: Byung Joo Kim
  • Patent number: 10850733
    Abstract: In a method for automatically adjusting the vehicle speed of a vehicle, while the distance to a preceding other vehicle is continuously measured, in order to reduce an initial distance, the vehicle is initially moved, in a drive phase, at a higher vehicle speed and is subsequently decelerated in a braking phase.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: December 1, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Ralf Schaeffler, Thomas Brettschneider
  • Patent number: 10854081
    Abstract: A driving assistance device sets, in front of an own vehicle, an actuation region that is a region sandwiched by boundary lines, positioned at left and right, respectively. In a case where a target existing around the own vehicle has entered the actuation region, the device performs driving assistance for avoiding collision with the target or mitigating collision damage. The device, when setting the actuation region, in a case where the own vehicle is in a turning state, changes a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the actuation region, to a position closer to the own vehicle according to turning information. For a boundary line in an inside in a turning direction of the own vehicle, the device does not change a lateral position according to the turning information.
    Type: Grant
    Filed: December 18, 2016
    Date of Patent: December 1, 2020
    Assignees: DENSO CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kei Tamura, Yosuke Ito, Toru Takahashi, Masayasu Tanase, Wataru Ike
  • Patent number: 10839678
    Abstract: A vehicle identifying device is configured to identify a target vehicle around a vehicle. The vehicle identifying device includes circuitry configured to: acquire a behavior of the target vehicle based on a detection result of an external sensor; estimate a behavior of the target vehicle in a case where the target vehicle is an automatically driven vehicle based on map information; and identify whether the target vehicle is the automatically driven vehicle based on a result of comparison between the acquired behavior of the target vehicle and the estimated behavior.
    Type: Grant
    Filed: March 28, 2018
    Date of Patent: November 17, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Hiromitsu Urano
  • Patent number: 10829098
    Abstract: Methods and apparatus are disclosed herein that perform automatic downhill snub braking. An example apparatus disclosed herein includes an electronic powertrain controller to cause a deceleration of a vehicle in response to a first request from an electronic cruise controller, the first request responsive to a change in grade of a driving surface and an electronic brake controller to apply snub braking to the vehicle in response to a second request received from the electronic cruise controller, the second request responsive to a speed of the vehicle reaching a maximum speed.
    Type: Grant
    Filed: July 16, 2018
    Date of Patent: November 10, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Donald A. Perlick, Bang Kim Cao, Kurt Howard Nickerson
  • Patent number: 10821980
    Abstract: A vehicle control device includes an overtaking prediction unit configured to predict an overtaking section where a host vehicle overtakes another vehicle that exists ahead of the host vehicle and in a second lane different from a first lane where the host vehicle is traveling, and a travel controller configured to perform travel control to overtake another vehicle. The travel controller performs travel control to adjust speed of the host vehicle in a case where the overtaking section predicted by the overtaking prediction unit entirely or partially overlaps a restricted section in which overtaking is restricted.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: November 3, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventors: Hideki Matsunaga, Masaaki Nagashima, Takumi Machida
  • Patent number: 10814841
    Abstract: A controller calculates absolute velocity of an object based on acquired own vehicle velocity and acquired relative velocity of the object with respect to an own vehicle. The controller determines a relative movement state of the object in a direction of movement of the own vehicle based on the calculated absolute velocity of the object. The controller changes a threshold for the absolute velocity of the object to be used for determination of the relative movement state of the object while the automatic brake is actuated.
    Type: Grant
    Filed: December 20, 2016
    Date of Patent: October 27, 2020
    Assignees: DENSO CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Ryo Takaki, Masayasu Tanase, Wataru Ike
  • Patent number: 10816985
    Abstract: According to some embodiments, a system operates an ADV. In one embodiment, the system perceives a driving environment surrounding the ADV based on sensor data obtained from a plurality of sensors, including perceiving a moving obstacle that is moving relative to the ADV. The system projects the moving obstacle as a figure onto a station-time (ST) coordinate system, wherein the ST coordinate system indicates a distance between the figure and a reference point at different points in time. And the system, for each of a plurality of predetermined processing time intervals, determines two points of the figure in the ST coordinate system to represent a shape of the figure, wherein the shape of the figure is utilized to plan a trajectory to drive the ADV to avoid colliding with the moving obstacle.
    Type: Grant
    Filed: April 17, 2018
    Date of Patent: October 27, 2020
    Assignee: BAIDU USA LLC
    Inventors: Liangliang Zhang, Dong Li, Jiangtao Hu, Jiaming Tao, Yifei Jiang, Fan Zhu
  • Patent number: 10814873
    Abstract: A driving support apparatus is configured to execute steering support control of changing a steering angle of a vehicle based on vehicle surroundings information. The driving support apparatus includes a cleaning apparatus configured to execute cleaning processing for cleaning a window section when a cleaning request is generated. The driving support apparatus is configured to determine whether or not a predetermined cleaning prohibition condition is satisfied, the predetermined cleaning prohibition condition being satisfied when the vehicle is predicted to be likely to approach an object present near the vehicle on the assumption that the cleaning processing is executed. The driving support apparatus prohibits the cleaning apparatus from executing the cleaning processing when the cleaning prohibition condition is determined to be satisfied in a case where the cleaning request is generated during execution of the steering support control.
    Type: Grant
    Filed: April 15, 2019
    Date of Patent: October 27, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Masumi Dakemoto
  • Patent number: 10807606
    Abstract: A vehicle lean inspection apparatus that determines whether a vehicle is leaning during a driving test, includes: a communication module connected to a diagnostic communication module through an OBD-II connector of the vehicle to collect state information of driving of the vehicle; an acceleration sensor to measure an acceleration signal generated by a vertical vibration during driving of the vehicle to recognize a start point and an end point of an inspection interval of a predetermined reference distance; a gyro sensor to measure a road slope during the driving of the vehicle; and a controller to collect state information of the vehicle to measure an actual driving distance passing through the inspection interval, and to determine that the vehicle leans when the remaining driven distance calculated based on a first distance increment and a second distance increment exceeds the reference distance.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: October 20, 2020
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Changmo Yang, Haeseong Lee, Jihoon Park
  • Patent number: 10809374
    Abstract: A method for operating a driver assistance system for motor vehicles which has a radar sensor and a variable scope of functionality, with continuous recalibration of the radar sensor in order to compensate for alignment errors during operation, characterized by the following steps: estimating the alignment error based on a measurement over a limited first operating time period; limiting the scope of functionality of the driver assistance system depending on the estimated alignment error; continuing to measure during operation with a limited scope of functionality within a second operating time period, in order to improve the estimation accuracy of the alignment error; and expanding the scope of functionality in accordance with the improvement in estimation accuracy.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: October 20, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Igor Wetoschkin, Gabor Balazs Daroczi
  • Patent number: 10787171
    Abstract: A method for operating a vehicle includes detecting an object state using a surroundings sensor system of the vehicle at a first point in time, detecting an object state using the surroundings sensor system at a later second point in time, and adapting an activation state of a semi-automated or fully-automated driving function of the vehicle based on the detected object states.
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: September 29, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Christoph Schroeder, Oliver Pink
  • Patent number: 10782396
    Abstract: Systems and methods are provided for tracking moving objects from a set of measurements. An estimate of a posterior probability distribution for a plurality of track states is determined from an estimate of the posterior probability distribution for a plurality of possible assignments of the set of measurements to a set of tracks representing trajectories of the plurality of moving objects and the set of measurements. A new estimate of the posterior probability distribution for the assignments is determined from the measurements and the estimate of a posterior probability distribution for the track states. A variational lower bound is determined from the new estimate of the posterior probability distribution for the assignments, the estimate of the posterior probability distribution for the track states, and the set of measurements. These steps are iteratively repeated until the variational lower bound is less than a threshold value.
    Type: Grant
    Filed: April 16, 2019
    Date of Patent: September 22, 2020
    Assignee: NORTHROP GRUMMAN SYSTEMS CORPORATION
    Inventors: Ryan D. Turner, Steven Bottone, Bhargav R. Avasarala, Clay J. Stanek
  • Patent number: 10777084
    Abstract: A computer includes a processor and a memory. The memory stores instructions executable by the processor to receive in a host vehicle, from a target vehicle via wireless vehicle-to-vehicle communications, a target vehicle first location in a global coordinate system, determine a target vehicle second location in a local coordinate system that has an origin at the host vehicle, and identify a host vehicle location in the global coordinate system based solely on (i) local coordinate system data determined in the host vehicle, including the target vehicle second location and (ii) data in the vehicle-to-vehicle communications, including the target vehicle first location.
    Type: Grant
    Filed: July 18, 2019
    Date of Patent: September 15, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Ankit Girish Vora, Siddharth Agarwal, Sangjin Lee, Krishanth Krishnan
  • Patent number: 10775794
    Abstract: A following system according to an embodiment, in which a mobile robot follows a moving object, includes a first camera and a mobile robot. The first camera is worn by the moving object and is used to photograph a scene in front of the moving object. The mobile robot includes a second camera for photographing a scene in front of the mobile robot, and acquires a following path according to a first front image from the first camera and a second front image from the second camera.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: September 15, 2020
    Assignee: HANWHA DEFENSE CO., LTD.
    Inventors: HeeSeo Chae, JaeChan Park
  • Patent number: 10768635
    Abstract: A hybrid electric vehicle is capable of maximizing energy efficiency during platooning, and a platooning control method is carried out on the hybrid electric vehicle. The method includes acquiring acceleration information and deceleration information of each of a plurality of vehicles traveling in a platoon form for platooning so as to realize a pulse-and-gliding traveling mode, determining a traveling order of the vehicles during the platooning based on the acceleration information, and determining a time at which to start a glide phase of a following vehicle in the determined traveling order based on a time at which a glide phase of a preceding vehicle starts using the acceleration information and the deceleration information.
    Type: Grant
    Filed: November 29, 2018
    Date of Patent: September 8, 2020
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Jung Min Cha, Joon Young Park
  • Patent number: 10762791
    Abstract: Systems and methods for increasing the efficiency of vehicle platooning systems are described. In one aspect, drivers are more likely to enjoy a system if it begins platooning as desired and does not accidently end platoons. When a certain amount of data packets sent between vehicles are dropped, systems typically will either not engage in a platoon or end a current platoon. When a platoon has a very small gap between vehicles, the platoon should end—or not start, when a certain amount of packets are dropped. However, if a gap is large enough to provide a driver with more time to react, a system may accept a greater amount of dropped packets before it refuses to start a platoon or causes the end of a platoon.
    Type: Grant
    Filed: October 29, 2018
    Date of Patent: September 1, 2020
    Assignee: Peloton Technology, Inc.
    Inventors: Joshua P Switkes, Stephen M Erlien, Colleen Twitty, Evan Nakano
  • Patent number: 10732645
    Abstract: The present invention relates to a method and system for enabling vehicles to closely follow one another through partial automation. Following closely behind another vehicle can have significant fuel savings benefits, but is unsafe when done manually by the driver. By directly commanding the engine torque and braking of the following vehicle while controlling the gap between vehicles using a sensor system, and additionally using a communication link between vehicles that allows information about vehicle actions, such as braking events, to be anticipated by the following vehicle, a Semi-Autonomous Vehicular Convoying System that enables vehicles to follow closely together in a safe, efficient and convenient manner may be achieved.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: August 4, 2020
    Assignee: Peloton Technology, Inc.
    Inventors: Joshua P. Switkes, Joseph Christian Gerdes