公开(公告)号：US12120463B2

公开(公告)日：2024-10-15

申请号：US18305478

申请日：2023-04-24

申请人： Waymo LLC

发明人： Simon Verghese ,  Alexander McCauley

IPC分类号： H04N7/18 ,  B60W30/095 ,  B60W60/00 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G05D1/00 ,  G06V10/44 ,  G06V10/88 ,  G06V20/56 ,  G08G1/01 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69

CPC分类号： H04N7/18 ,  B60W30/0956 ,  B60W60/001 ,  G01S7/483 ,  G01S7/497 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G01W1/06 ,  G05D1/0088 ,  G06V10/44 ,  G06V10/89 ,  G06V20/56 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/04 ,  G08G1/048 ,  H04N23/69 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2556/45 ,  G05D1/0251 ,  G05D1/0257

摘要： An example method includes receiving, from one or more sensors associated with an autonomous vehicle, sensor data associated with a target object in an environment of the vehicle during a first environmental condition, where at least one sensor of the sensor(s) is configurable to be associated with one of a plurality of operating field of view volumes. The method also includes based on the sensor data, determining at least one parameter associated with the target object. The method also includes determining a degradation in the parameter(s) between the sensor data and past sensor data, where the past sensor data is associated with the target object in the environment during a second environmental condition different from the first and, based on the degradation, adjusting the operating field of view volume of the at least one sensor to a different one of the operating field of view volumes.

公开(公告)号：US12114241B2

公开(公告)日：2024-10-08

申请号：US17406420

申请日：2021-08-19

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Satoaki Takabatake ,  Koji Kimura ,  Junji Miyazaki ,  Yuki Yoshida ,  Ryo Ogata ,  Tadashi Morishita

IPC分类号： B60K35/00 ,  B60K35/23 ,  B60K35/28 ,  B60K35/29 ,  B60W10/20 ,  B60W30/18 ,  B60W50/14 ,  B60W60/00 ,  G05D1/00 ,  H04L67/12 ,  H04W4/46 ,  H04W4/48

CPC分类号： H04W4/46 ,  B60W10/20 ,  B60W30/18163 ,  B60W50/14 ,  G05D1/0257 ,  B60R2300/304 ,  B60W2050/146 ,  B60W2556/65

摘要： A display control ECU includes an information acquisition section and a display control section. The information acquisition section acquires information relating to a peripheral target object that is present ahead of the vehicle and in a subject vehicle lane in which the vehicle is currently traveling, and information relating to an object requiring caution that is present outside of the subject vehicle lane and having implications for control during the autonomous driving. The display control section displays an image of the peripheral target object, regarding which information has been acquired by the information acquisition section on a heads-up display provided inside a cabin of the vehicle, and additionally displays on the heads-up display an image of the object requiring caution in a case in which information relating to the object requiring caution has been acquired by the information acquisition section.

公开(公告)号：US12112650B2

公开(公告)日：2024-10-08

申请号：US17105066

申请日：2020-11-25

申请人： Cybernet Systems Corp.

发明人： Charles J. Jacobus ,  Douglas Haanpaa ,  Eugene Foulk ,  Pritpaul Mahal ,  Steve Rowe ,  Charles J. Cohen ,  Glenn J. Beach

IPC分类号： G05D1/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  G08G9/02 ,  H04L67/125 ,  H04W4/02 ,  H04W4/38 ,  H04W4/44 ,  H04W4/46 ,  H04W4/40

CPC分类号： G08G9/02 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0257 ,  H04L67/125 ,  H04W4/02 ,  H04W4/026 ,  H04W4/027 ,  H04W4/38 ,  H04W4/44 ,  H04W4/46 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2710/18 ,  B60W2710/20 ,  H04W4/40

摘要： Autonomous and manually operated vehicles are integrated into a cohesive, interactive environment, with communications to each other and to their surroundings, to improve traffic flow while reducing accidents and other incidents. All vehicles send/receive messages to/from each other, and from infrastructure devices, enabling the vehicles to determine their status, traffic conditions and infrastructure. The vehicles store and operate in accordance with a common set of rules based upon the messages received and other inputs from sensors, databases, and so forth, to avoid obstacles and collisions based upon current and, in some cases, future or predicted behavior. Shared vehicle control interfaces enable the AVs to conform to driving activities that are legal, safe, and allowable on roadways. Such activities enable each AV to drive within safety margins, speed limits, on allowed or legal driving lanes and through allowed turns, intersections, mergers, lane changes, stops/starts, and so forth.

公开(公告)号：US12099356B2

公开(公告)日：2024-09-24

申请号：US16895363

申请日：2020-06-08

申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC

发明人： Gabriel Warshauer-Baker ,  Kevin Chu

IPC分类号： G05D1/00

CPC分类号： G05D1/0088 ,  G05D1/0223 ,  G05D1/0246 ,  G05D1/0257

摘要： Various technologies described herein pertain to generating an occupancy grid movie for utilization in motion planning for the autonomous vehicle. The occupancy grid movie can be generated for a given time and can include time-stepped occupancy grids for future times that are at predefined time intervals from the given time. The time-stepped occupancy grids include cells corresponding to regions in an environment surrounding the autonomous vehicle. Probabilities can be assigned to the cells specifying likelihoods that the regions corresponding to the cells are occupied at the future times. Moreover, cached query objects that respectively specify indices of cells of a grid occupied by a representation of an autonomous vehicle at corresponding orientations are described herein. An occupancy grid for the environment surrounding the autonomous vehicle can be queried to determine whether cells of the occupancy grid are occupied utilizing a cached query object from the cache query objects.

公开(公告)号：US12066832B2

公开(公告)日：2024-08-20

申请号：US17138411

申请日：2020-12-30

申请人： SAMSUNG ELECTRONICS CO., LTD.

发明人： Hyunwoong Cho ,  Woosuk Kim ,  Jong-Sok Kim

IPC分类号： G05D1/00 ,  B60W10/04 ,  B60W10/20

CPC分类号： G05D1/0257 ,  B60W10/04 ,  B60W10/20 ,  B60W2420/408 ,  B60W2710/20 ,  B60W2720/10 ,  B60W2720/106 ,  B60W2720/12 ,  B60W2720/125

摘要： A processor-implemented method of performing an operation using a complex-valued attention network includes: extracting a complex-valued attention weight from complex-valued input data; and determining complex-valued attention data by applying the extracted complex-valued attention weight to the complex-valued input data.

公开(公告)号：US12038761B2

公开(公告)日：2024-07-16

申请号：US18165627

申请日：2023-02-07

申请人： TuSimple, Inc.

发明人： Bolun Zhang ,  Nan Yu

IPC分类号： G05D1/02 ,  G05D1/00 ,  G06V20/56 ,  G06V20/58 ,  H04W4/46

CPC分类号： G05D1/028 ,  G05D1/0219 ,  G05D1/0248 ,  G05D1/0257 ,  G06V20/582 ,  G06V20/588 ,  H04W4/46

摘要： Systems and methods for updating navigational maps based using at least one sensor are provided. In one aspect, a control system for an autonomous vehicle, includes a processor and a computer-readable memory configured to cause the processor to: receive output from at least one sensor located on the autonomous vehicle indicative of a driving environment of the autonomous vehicle, retrieve a navigational map used for driving the autonomous vehicle, and detect one or more inconsistencies between the output of the at least one sensor and the navigational map. The computer-readable memory is further configured to cause the processor to: in response to detecting the one or more inconsistencies, trigger mapping of the driving environment based on the output of the at least one sensor, update the navigational map based on the mapped driving environment, and drive the autonomous vehicle using the updated navigational map.

公开(公告)号：US12001217B1

公开(公告)日：2024-06-04

申请号：US17717290

申请日：2022-04-11

申请人： Waymo LLC

发明人： David I. Ferguson ,  Jiajun Zhu

IPC分类号： G05D1/00 ,  B60K31/00 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/02 ,  B60W50/029 ,  G01C21/28 ,  G01S7/40 ,  G01S7/497 ,  G01S7/52 ,  G01S13/58 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/87

CPC分类号： G05D1/024 ,  B60K31/0008 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/0205 ,  B60W50/029 ,  G01C21/28 ,  G01S7/4004 ,  G01S7/497 ,  G01S7/4972 ,  G01S7/52004 ,  G01S13/58 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/87 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  B60W2050/0215 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2554/00 ,  B60W2554/801 ,  B60W2720/10 ,  B60W2720/24 ,  G01S7/4039 ,  G01S2007/4975

摘要： Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.

公开(公告)号：US11958484B2

公开(公告)日：2024-04-16

申请号：US16846839

申请日：2020-04-13

申请人： Ningbo Geely Automobile Research & Development Co., Ltd.

发明人： Magnus Brandin ,  Per Landfors

IPC分类号： B60W30/12 ,  B60W40/02 ,  B60W40/109 ,  G05D1/00 ,  G06F3/01 ,  G06V20/56 ,  B60W60/00

CPC分类号： B60W30/12 ,  B60W40/02 ,  B60W40/109 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0253 ,  G05D1/0257 ,  G05D1/0278 ,  G06F3/01 ,  G06V20/588 ,  B60W60/0051 ,  B60W2552/05 ,  B60W2552/10 ,  B60W2554/60 ,  B60W2754/20 ,  G05D2201/0213

摘要： An autonomous vehicle includes processor circuitry to control a lateral position of the autonomous vehicle during autonomous driving at least based on a default lateral position and a user interface arranged to receive an input indicative of an off-set of the lateral position from a user of the autonomous driving vehicle, wherein the processor circuitry is arranged to receive, from the user interface, information regarding the off-set of the lateral position of the autonomous driving vehicle during driving in the lateral position, calculate a maximum right and a maximum left off-set of the lateral position, calculate a dynamic off-set value based on the received off-set and the maximum right and the maximum left off-set, adjust the lateral position based on the off-set information, and control the lateral position at least based on the dynamic off-set value and the default lateral position of the autonomous driving vehicle.

公开(公告)号：US11935308B2

公开(公告)日：2024-03-19

申请号：US16985651

申请日：2020-08-05

申请人： HONDA MOTOR CO., LTD.

发明人： Go Nakamoto ,  Yoshiyuki Kuroba ,  Hiroshi Maeda ,  Masashi Hagimoto

IPC分类号： G06V20/58 ,  G01S7/41 ,  G01S7/539 ,  G01S13/931 ,  G01S15/931 ,  G05D1/00 ,  G06T7/70

CPC分类号： G06V20/584 ,  G06T7/70 ,  G01S7/411 ,  G01S7/539 ,  G01S13/931 ,  G01S15/931 ,  G05D1/0231 ,  G05D1/0255 ,  G05D1/0257 ,  G06T2207/30252

摘要： An object recognition apparatus mounted in a vehicle including a sensor is provided. The apparatus includes a detection unit configured to detect an object present in a same lane as that of the vehicle by using information from the sensor, an acquisition unit configured to acquire information concerning lights which the object turns on by using the information from the sensor, and a determining unit configured to determine a type of the object based on the information concerning the lights. A condition in which the determination unit determines that the type of the object is a two-wheeled vehicle includes a case in which the object includes not less than two lights arrayed in a vertical direction with respect to the ground surface.

公开(公告)号：US11934197B2

公开(公告)日：2024-03-19

申请号：US16628909

申请日：2018-06-04

申请人： Robert Bosch GmbH

发明人： Ali Alawieh ,  Carsten Hasberg ,  Danny Hiendriana ,  Fabian Dominik Reister ,  Jan-Hendrik Pauls ,  Muhammad Sheraz Khan ,  Philipp Rasp ,  Valentin Frommherz

IPC分类号： G05D1/02 ,  G01C21/00 ,  G05D1/00 ,  G08G1/01

CPC分类号： G05D1/0274 ,  G01C21/3844 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0278 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/0129 ,  G05D2201/0213

摘要： A method for operating a higher-level automated vehicle (HAV), in particular a highly automated vehicle, is provided, including: S1 for providing a digital map, which may be a highly accurate digital map, in a driver assistance system of the HAV; S2 for determining an instantaneous vehicle position and localizing the vehicle position in the digital map; S3 for providing an expected setpoint traffic density at the vehicle position; S4 for ascertaining an instantaneous actual traffic density in the surroundings of the HAV; S5 for comparing the actual traffic density to the setpoint traffic density and ascertaining a difference value as the result of the comparison; S6 for checking the vehicle position of the HAV for plausibility at least partially based on the difference value and/or S7 for updating the digital map at least partially based on the difference value. Also described are a corresponding driver assistance system and a computer program.