公开(公告)号：US12183090B2

公开(公告)日：2024-12-31

申请号：US17855745

申请日：2022-06-30

Applicant: Honda Motor Co., Ltd.

Inventor： Nakul Agarwal ,  Yi-Ting Chen

IPC: G06V10/00 ,  G06V10/764 ,  G06V10/80 ,  G06V10/82 ,  G06V20/58

Abstract: According to one aspect, intersection scenario description may be implemented by receiving a video stream of a surrounding environment of an ego-vehicle, extracting tracklets and appearance features associated with dynamic objects from the surrounding environment, extracting motion features associated with dynamic objects from the surrounding environment based on the corresponding tracklets, passing the appearance features through an appearance neural network to generate an appearance model, passing the motion features through a motion neural network to generate a motion model, passing the appearance model and the motion model through a fusion network to generate a fusion output, passing the fusion output through a classifier to generate a classifier output, and passing the classifier output through a loss function to generate a multi-label classification output associated with the ego-vehicle, dynamic objects, and corresponding motion paths.

公开(公告)号：US12073563B2

公开(公告)日：2024-08-27

申请号：US17710807

申请日：2022-03-31

Applicant: Honda Motor Co., Ltd.

Inventor： Isht Dwivedi ,  Yi-Ting Chen ,  Behzad Dariush

IPC: G06T7/10 ,  G06T7/50 ,  G06T17/05 ,  G06V10/77 ,  G06V10/774 ,  G06V10/82

CPC classification number: G06T7/10 ,  G06T7/50 ,  G06T17/05 ,  G06V10/7715 ,  G06V10/7747 ,  G06V10/82 ,  G06T2207/10028 ,  G06T2207/20021 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2210/56

Abstract: Systems and methods for bird's eye view (BEV) segmentation are provided. In one embodiment, a method includes receiving an input image from an image sensor on an agent. The input image is a perspective space image defined relative to the position and viewing direction of the agent. The method includes extracting features from the input image. The method includes estimating a depth map that includes depth values for pixels of the plurality of pixels of the input image. The method includes generating a 3D point map including points corresponding to the pixels of the input image. The method includes generating a voxel grid by voxelizing the 3D point map into a plurality voxels. The method includes generating a feature map by extracting feature vectors for pixels based on the points included in the voxels of the plurality of voxels and generating a BEV segmentation based on the feature map.

公开(公告)号：US11580743B2

公开(公告)日：2023-02-14

申请号：US17704324

申请日：2022-03-25

Applicant: Honda Motor Co., Ltd.

Inventor： Yi-Ting Chen ,  Behzad Dariush ,  Nakul Agarwal ,  Ming-Hsuan Yang

IPC: G06K9/62 ,  G06V20/40 ,  G06N3/08 ,  G06V20/56

Abstract: A system and method for providing unsupervised domain adaption for spatio-temporal action localization that includes receiving video data associated with a source domain and a target domain that are associated with a surrounding environment of a vehicle. The system and method also include analyzing the video data associated with the source domain and the target domain and determining a key frame of the source domain and a key frame of the target domain. The system and method additionally include completing an action localization model to model a temporal context of actions occurring within the key frame of the source domain and the key frame of the target domain and completing an action adaption model to localize individuals and their actions and to classify the actions based on the video data. The system and method further include combining losses to complete spatio-temporal action localization of individuals and actions.

公开(公告)号：US10902303B2

公开(公告)日：2021-01-26

申请号：US16254344

申请日：2019-01-22

Applicant: HONDA MOTOR CO., LTD.

Inventor： Ahmed Taha ,  Yi-Ting Chen ,  Teruhisa Misu ,  Larry Davis

IPC: G06K9/66 ,  G06K9/00 ,  G06N3/08 ,  G06K9/62

Abstract: Methods, systems, and computer-readable mediums storing computer executable code for visual recognition implementing a triplet loss function are provided. The method include receiving an image generated from an image source associated with a vehicle. The method may also include analyzing the image based on a convolutional neural network. The convolutional neural network may apply both a triplet loss function and a softmax loss function to the image to determine classification logits. The method may also include classifying the image into a predetermined class distribution based upon the determined classification logits. The method may also include instructing the vehicle to perform a specific task based upon the classified image.

公开(公告)号：US10860873B2

公开(公告)日：2020-12-08

申请号：US16438119

申请日：2019-06-11

Applicant: Honda Motor Co., Ltd.

Inventor： Athmanarayanan Lakshmi Narayanan ,  Yi-Ting Chen

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/68

Abstract: Driver behavior recognition or driver behavior prediction are described herein. A first image sequence including image frames associated with a forward-facing image capture device of a vehicle and a corresponding vehicle data signal sequence may be received. A second image sequence including image frames associated with a rear or driver facing image capture device of the vehicle may be received. Feature vectors may be generated for respective sequences using neural networks, such as a convolutional neural network (CNN), a depth CNN, a recurrent neural network (RNN), a fully connected layer, a long short term memory (LSTM) layer, etc. A fusion feature may be generated by performing data fusion on any combination of the feature vectors. A predicted driver behavior may be generated based on the LSTM layer and n image frames on an image sequence and include x number of prediction frames.

公开(公告)号：US20200039521A1

公开(公告)日：2020-02-06

申请号：US16185514

申请日：2018-11-09

Applicant: Honda Motor Co., Ltd.

Inventor： Teruhisa Misu ,  Yi-Ting Chen

IPC: B60W40/09 ,  G05D1/00 ,  G06K9/00 ,  G06N20/00

Abstract: A system and method for learning naturalistic driving behavior based on vehicle dynamic data that include receiving vehicle dynamic data and image data and analyzing the vehicle dynamic data and the image data to detect a plurality of behavioral events. The system and method also include classifying at least one behavioral event as a stimulus-driven action and predicting at least one behavioral event as a goal-oriented action based on the stimulus-driven action. The system and method additionally include building a naturalistic driving behavior data set that includes annotations that are based on the at least one behavioral event that is classified as the stimulus-driven action. The system and method further include controlling a vehicle to be autonomously driven based on the naturalistic driving behavior data set.

公开(公告)号：US11741723B2

公开(公告)日：2023-08-29

申请号：US16916087

申请日：2020-06-29

Applicant: Honda Motor Co., Ltd.

Inventor： Yi-Ting Chen ,  Nakul Agarwal ,  Behzad Dariush ,  Ahmed Taha

IPC: G06V20/56 ,  G06F16/735 ,  G06N3/02 ,  G06F16/783 ,  G06F16/787 ,  G06F16/738 ,  G06V20/40 ,  G06V20/58 ,  G06T7/246 ,  G06F16/732 ,  G06V10/84 ,  G06V10/82

CPC classification number: G06V20/588 ,  G06F16/732 ,  G06F16/735 ,  G06F16/738 ,  G06F16/787 ,  G06F16/7837 ,  G06N3/02 ,  G06T7/246 ,  G06V10/82 ,  G06V10/84 ,  G06V20/49 ,  G06V20/56 ,  G06V20/58 ,  G06T2207/20084

Abstract: A system and method for performing intersection scenario retrieval that includes receiving a video stream of a surrounding environment of an ego vehicle. The system and method also include analyzing the video stream to trim the video stream into video clips of an intersection scene associated with the travel of the ego vehicle. The system and method additionally include annotating the ego vehicle, dynamic objects, and their motion paths that are included within the intersection scene with action units that describe an intersection scenario. The system and method further include retrieving at least one intersection scenario based on a query of an electronic dataset that stores a combination of action units to operably control a presentation of at least one intersection scenario video clip that includes the at least one intersection scenario.

公开(公告)号：US11544935B2

公开(公告)日：2023-01-03

申请号：US16916428

申请日：2020-06-30

Applicant: Honda Motor Co., Ltd.

Inventor： Yi-Ting Chen ,  Chengxi Li

IPC: G06V20/00 ,  G06V20/56 ,  G06T7/73 ,  G06V10/75

Abstract: A system and method for risk object identification via causal inference that includes receiving at least one image of a driving scene of an ego vehicle and analyzing the at least one image to detect and track dynamic objects within the driving scene of the ego vehicle. The system and method also include implementing a mask to remove each of the dynamic objects captured within the at least one image. The system and method further include analyzing a level of change associated with a driving behavior with respect to a removal of each of the dynamic objects. At least one dynamic object is identified as a risk object that has a highest level of influence with respect to the driving behavior.

公开(公告)号：US11460856B2

公开(公告)日：2022-10-04

申请号：US16728581

申请日：2019-12-27

Applicant: Honda Motor Co., Ltd.

Inventor： Yi-Ting Chen ,  Chengxi Li ,  Yue Meng

IPC: G06F16/00 ,  G05D1/02 ,  G06F16/901 ,  G07C5/06 ,  G05D1/00 ,  G06V20/56

Abstract: Systems and methods for driver behavior recognition is provided. In one embodiment a computer implemented method includes receiving image data associated with a general objects. The method also includes identifying a reactive object and an inert object from the general objects based on the image data. An ego reactive graph is generated for the reactive object based on a reactive feature of the reactive object and a reactive position vector. An ego inert graph is generated for the inert object based on an inert feature of the inert object and an inert distance. The method further includes performing interaction modeling based on the ego reactive graphs and the ego inert graphs to generate updated features. The method also includes performing temporal modeling on the updated features. The method further includes determining an egocentric representation of a tactical driver behavior based at least in part on the updated features.

公开(公告)号：US11447127B2

公开(公告)日：2022-09-20

申请号：US16436510

申请日：2019-06-10

Applicant: HONDA MOTOR CO., LTD. ,  THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Ashish Tawari ,  Yi-Ting Chen ,  Teruhisa Misu ,  John F. Canny ,  Jinkyu Kim

IPC: B60W30/02 ,  G05D1/00 ,  G05D1/02 ,  B60W10/04 ,  B60W10/20 ,  G06K9/62 ,  G10L15/22 ,  G10L15/26 ,  G06V20/58

Abstract: Aspects of the present disclosure may include methods, apparatuses, and computer readable media for receiving one or more images having a plurality of objects, receiving a notification from an occupant of the self-driving vehicle, generating an attention map highlighting the plurality of objects based on at least one of the one or more images and the notification, and providing at least one of a steering control or a velocity control to operate the self-driving vehicle based on the attention map and the notification.