公开(公告)号：US11932276B2

公开(公告)日：2024-03-19

申请号：US17267258

申请日：2019-07-24

申请人： Bayerische Motoren Werke Aktiengesellschaft

发明人： Tamas Fendler ,  Robert Knorrn ,  Thomas Velten

IPC分类号： B60W60/00 ,  B60W30/095 ,  B60W40/107

CPC分类号： B60W60/0015 ,  B60W30/0956 ,  B60W40/107 ,  B60W2554/4042 ,  B60W2554/804

摘要： A driving system for at least automated longitudinal guidance for a motor vehicle is designed to determine or receive a virtual acceleration for the motor vehicle, to determine, for each of at least two further road users in the environment of the motor vehicle, the duration until a virtual collision of the motor vehicle with the road user in question, in each case at least in dependence on the virtual acceleration of the motor vehicle, to select one of the at least two further road users as a target object in dependence on the respective durations until a virtual collision of the motor vehicle with the respective road users, which durations were determined for the at least two further road users, and to determine the longitudinal guidance for the motor vehicle in dependence on the road user selected as the control object.

公开(公告)号：US20240085917A1

公开(公告)日：2024-03-14

申请号：US18506500

申请日：2023-11-10

申请人： WAYMO LLC

发明人： Vishu Goyal ,  Kai Ding

IPC分类号： G05D1/02 ,  B60W60/00 ,  G05B13/02 ,  G05B13/04

CPC分类号： G05D1/0214 ,  B60W60/001 ,  G05B13/0265 ,  G05B13/048 ,  B60W2552/05 ,  B60W2552/15 ,  B60W2552/20 ,  B60W2552/30 ,  B60W2554/4029 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/4045 ,  B60W2554/4046 ,  B60W2555/60 ,  G05D2201/0213

摘要： The technology relates to controlling a vehicle in an autonomous driving mode in accordance with behavior predictions for other road users in the vehicle's vicinity. In particular, the vehicle's onboard computing system may predict whether another road user will perform a “continuing” lane driving operation, such as going straight in a turn-only lane. Sensor data from detected/observed objects in the vehicle's nearby environment may be evaluated in view of one or more possible behaviors for different types of objects. In addition, roadway features, in particular whether lane segments are connected in a roadgraph, are also evaluated to determine probabilities of whether other road users may make an improper continuing lane driving operation. This is used to generate more accurate behavior predictions, which the vehicle can use to take alternative (e.g., corrective) driving actions.

公开(公告)号：US20240083432A1

公开(公告)日：2024-03-14

申请号：US17943803

申请日：2022-09-13

申请人： TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.

发明人： YASHAR ZEIYNALI FARID ,  Kentaro Oguchi

IPC分类号： B60W30/18 ,  B60W30/16

CPC分类号： B60W30/18018 ,  B60W30/16 ,  B60W2520/10 ,  B60W2554/4042 ,  B60W2554/802 ,  B60W2720/10

摘要： Systems and methods are provided for activating mitigation strategies to reduce or eliminate the stop-and-go traffic. Mitigation strategies can be applied to reduce stop-and-go traffic or prevent a control vehicle from experiencing stop-and-go traffic. The control vehicle can predict when to apply mitigation strategies based on sensor data that can be applied to generate a trajectory for the control vehicle or a preceding vehicle.

公开(公告)号：US20240083419A1

公开(公告)日：2024-03-14

申请号：US18512986

申请日：2023-11-17

申请人： DENSO CORPORATION

发明人： KEISUKE HARUTA ,  SADAHIRO TERAZAWA

IPC分类号： B60W30/09 ,  B60W30/095 ,  B60W30/12 ,  B60W30/18 ,  B60W40/109 ,  B60W50/00

CPC分类号： B60W30/09 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/18163 ,  B60W40/109 ,  B60W50/0097 ,  B60W2520/125 ,  B60W2554/4042

摘要： A processing method implemented by a host mobile object includes steps of: monitoring a target mobile object traveling in an oncoming lane; and upon determining that the target mobile object traveling in the oncoming lane is detected, selecting, as driving control given to the host mobile object according to an overlapping travel situation where a future travel of the host mobile object and a future travel of the target mobile object would overlap with each other in the oncoming lane, either (i) deviation control for the host mobile object to deviate from the host lane to the oncoming lane or (ii) standby control for the host mobile object to stay in the host lane.

公开(公告)号：US20240067176A1

公开(公告)日：2024-02-29

申请号：US18237755

申请日：2023-08-24

申请人： HONDA MOTOR CO., LTD.

发明人： Akira SUGIYAMA ,  Yuta OKAZAKI ,  Naoto SEN ,  Hiroyuki BABA

IPC分类号： B60W30/14 ,  B60W30/165 ,  B60W30/18 ,  B60W50/14

CPC分类号： B60W30/143 ,  B60W30/165 ,  B60W30/18163 ,  B60W50/14 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2554/4042 ,  B60W2554/80

摘要： A control device for a moving body is configured to execute following movement control under which a movement speed of a moving body is controlled to follow a preceding moving body moving ahead of the moving body, and constant speed movement control under which the movement speed of the moving body is controlled to be a predetermined target. The control device is configured to execute, when the preceding moving body is detected, the following movement control, and execute, when the preceding moving body is no longer detected during execution of the following movement control, the constant speed movement control under which the movement speed of the moving body is controlled such that the movement speed of the moving body becomes the target speed based on a movement speed of a surrounding moving body moving in a surrounding area of the moving body.

公开(公告)号：US11897516B2

公开(公告)日：2024-02-13

申请号：US17518425

申请日：2021-11-03

申请人： Hyundai Motor Company ,  Kia Corporation

发明人： Hong Cho

IPC分类号： B60W60/00

CPC分类号： B60W60/0027 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/4045 ,  B60W2554/801 ,  B60W2554/802 ,  B60W2554/803 ,  B60W2554/804

摘要： A method for simulation of an autonomous vehicle includes preparing a setting of a parameter and an initial value configured to determine a driving condition of the autonomous vehicle and a driving condition of an event to be performed by a surrounding vehicle to implement a simulation environment of the autonomous vehicle. The method further includes performing a normal driving in which the surrounding vehicle travels at a speed and a position that match a predetermined condition set in the parameter to perform the event given, and performing an event driving in which the surrounding vehicle performs the event given based on a setting value of the parameter.

公开(公告)号：US11890987B2

公开(公告)日：2024-02-06

申请号：US17196883

申请日：2021-03-09

申请人： ROSCO, INC.

发明人： Benjamin Englander ,  Clayton Dean ,  John Polimeni ,  Michael Cacic ,  Mathew Locoteta ,  Julian Serer

IPC分类号： B60Q5/00 ,  G08G1/16 ,  B60W40/10 ,  B60R16/023 ,  G08G1/005 ,  B60W50/14 ,  B60Q1/50

CPC分类号： B60Q5/006 ,  B60Q1/525 ,  B60R16/023 ,  B60W40/10 ,  B60W50/14 ,  G08G1/005 ,  G08G1/166 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2554/4029 ,  B60W2554/4042 ,  B60W2554/80 ,  B60W2555/20

摘要： An advanced pedestrian warning or alert system is a system for automotive vehicles is described herein in various embodiments. This system detects if a vulnerable road user, for example a pedestrian, is at an unsafe distance from the moving vehicle. If a pedestrian is too close to the vehicle when the vehicle is in motion, then the system will issue auditory and/or visual warnings to notify the pedestrian back to safety.

公开(公告)号：US20240040269A1

公开(公告)日：2024-02-01

申请号：US18356905

申请日：2023-07-21

申请人： TUSIMPLE, INC.

发明人： Jianqiu CAO ,  Tristan NGUYEN ,  Xiaoling HAN ,  Xiaodi HOU

IPC分类号： H04N23/90 ,  B60W60/00 ,  H04N13/239 ,  G06T7/593 ,  G06T7/292

CPC分类号： H04N23/90 ,  B60W60/001 ,  H04N13/239 ,  G06T7/593 ,  G06T7/292 ,  B60W2420/42 ,  B60W2420/40 ,  B60W2420/52 ,  B60W2554/4042 ,  G06T2207/30252

摘要： Embodiments are disclosed for providing full and redundant sensor coverage for an environment surrounding a vehicle. An example vehicle includes a plurality of first cameras and a plurality of second cameras. The first cameras are associated with a first field-of-view (FOV) having a first horizontal aspect, and the second cameras are associated with a second FOV having a second horizontal aspect. The first cameras and the second cameras are located at different angular locations on the vehicle along a horizontal plane. Horizontal aspects of two FOVs of any two consecutive cameras located along the horizontal plane overlap in the horizontal plane by at least a predetermined degree. Another example vehicle includes a controller for controlling autonomous driving operation of the vehicle and a sensor network that includes at least six sensors. Directional beams corresponding to the sensors cover a surrounding region of the vehicle relevant to the autonomous driving operation.

公开(公告)号：US11884276B2

公开(公告)日：2024-01-30

申请号：US17918025

申请日：2020-04-15

申请人： Nissan Motor Co., Ltd. ,  Renault S.A.S.

发明人： Machiko Hiramatsu ,  Yuji Takada

IPC分类号： B60W30/095 ,  B60W30/18 ,  B60W50/00 ,  B60W60/00 ,  G05D1/00

CPC分类号： B60W30/18163 ,  B60W50/0097 ,  B60W60/005 ,  G05D1/0061 ,  B60W2520/10 ,  B60W2552/00 ,  B60W2552/50 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4044 ,  B60W2710/207 ,  B60W2720/106

摘要： A travel assistance method for performing a lane change of a host vehicle includes: detecting an oncoming vehicle traveling in an opposite lane from which the host vehicle travels when the host vehicle starts the lane change; determining a crossing point between a virtual advancing route and a linear advancing route in which the oncoming vehicle advances linearly, the virtual advancing route being a virtual extension of an advancing route of the host vehicle during a period from start to end of the lane change; executing a lane change using the route and the vehicle speed in a case where a time difference between a first predicted time and a second predicted time is outside a predetermined range; and when within the predetermined range, executing a lane change by changing at least one of the route and the vehicle speed such that the time difference is outside the predetermined range.

公开(公告)号：US20240025428A1

公开(公告)日：2024-01-25

申请号：US18351955

申请日：2023-07-13

申请人： BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.

发明人： Yunchen YANG ,  Weijun LIU ,  Jiaming SUN ,  Naiyan WANG

IPC分类号： B60W50/06 ,  B60W40/04

CPC分类号： B60W50/06 ,  B60W40/04 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2554/4042 ,  B60W2420/42 ,  B60W2556/45 ,  B60W2050/0022

摘要： The present disclosure relates to a method for state estimation of a target comprising: obtaining an observation variable of the target at different moments through a plurality of sensors, wherein at least one observation variable is acquired by each sensor; determining a state variable of the target at different moments based on the observation variable; and optimizing the state variable of the target by minimizing a loss function. The loss function includes at least one of a position loss, an orientation loss, a velocity loss, a size loss, or a structural constraint of the target. The method of the present disclosure may obtain a sufficiently accurate state estimate. In addition, an apparatus, an electronic device, and a medium for state estimation of the target are also provided.