公开(公告)号：US12116010B2

公开(公告)日：2024-10-15

申请号：US17645857

申请日：2021-12-23

申请人： Baidu USA LLC

发明人： Shu Jiang ,  Weiman Lin ,  Yu Cao ,  Jiangtao Hu ,  Jinghao Miao

IPC分类号： B60W60/00 ,  B60W30/14 ,  B60W40/02 ,  G06N3/02 ,  G06V20/58

CPC分类号： B60W60/0011 ,  B60W30/143 ,  B60W40/02 ,  B60W60/0015 ,  G06N3/02 ,  G06V20/58 ,  B60W2555/60 ,  B60W2556/40

摘要： According to some embodiments, described herein is a method and a system for guaranteeing safety at a control level of an ADV when at least a portion of a planned path generated by a planning module of the ADV is uncertain due to traffics and/or road condition changes. The planning module, when generating a path, also generate a confidence level of each segment of the path based on one or more of perception data, map information, or traffic rules. The confidence levels are decreasing further away from the ADV. When the control module of the ADV obtains the path and the associated confidence levels, the control module issue control commands to track only one or two segments whose confidence levels exceeds a threshold hold, and issue default control commands for the rest of the path.

公开(公告)号：US12110036B2

公开(公告)日：2024-10-08

申请号：US18002909

申请日：2021-06-11

申请人： Robert Bosch GmbH

发明人： Lars Pfau

IPC分类号： B60W50/16 ,  B60Q1/34 ,  B60W40/02 ,  B60W50/14

CPC分类号： B60W50/16 ,  B60Q1/346 ,  B60W40/02 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2300/36

摘要： The present invention obtains a controller capable of improving assistance performance of a rider. The present invention also obtains a rider-assistance system including such a controller. The present invention further obtains a control method for such a rider-assistance system.
In the case where travel posture information of a lean vehicle (100) is acquired and the travel posture information is information indicating that leaning of the lean vehicle (100) exceeds a reference, initiation of first rider-assistance operation for assisting with driving by a rider by using information on a first target (T1) located on a side of a travel line (DL) of the lean vehicle (100) is prohibited, and initiation of second rider-assistance operation for assisting with driving by the rider using information on a second target (T2) located on the travel line (DL) of the lean vehicle (100) is permitted.

公开(公告)号：US12110012B2

公开(公告)日：2024-10-08

申请号：US17648768

申请日：2022-01-24

申请人： DENSO CORPORATION

发明人： Yu Maeda ,  Atsushi Baba

IPC分类号： G08G1/09 ,  B60W10/04 ,  B60W10/20 ,  B60W30/095 ,  B60W40/02 ,  B60W50/02 ,  B60W60/00

CPC分类号： B60W30/095 ,  B60W10/04 ,  B60W10/20 ,  B60W40/02 ,  B60W50/0205 ,  B60W60/0015 ,  B60W2554/4046 ,  B60W2555/20 ,  B60W2556/65 ,  B60W2710/20 ,  B60W2720/10 ,  B60W2720/12

摘要： A vehicle control apparatus is mounted in a subject vehicle provided with a running planning unit configured to calculate one or more candidate routes on which the subject vehicle is to travel. The vehicle control apparatus predicts an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle.

公开(公告)号：US12103556B2

公开(公告)日：2024-10-01

申请号：US17868015

申请日：2022-07-19

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Suzuka Kondo ,  Eiki Kitagawa ,  Shota Fujii ,  Yu Okada ,  Takuo Kaneko ,  Soichi Yoshino

IPC分类号： B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  B60W30/12 ,  B60W30/18 ,  B60W40/02 ,  B60W50/10 ,  G06V20/58

CPC分类号： B60W60/0011 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/18163 ,  B60W40/02 ,  B60W50/10 ,  B60W60/0015 ,  B60W60/00274 ,  G06V20/58 ,  B60W2420/403 ,  B60W2552/10 ,  B60W2552/30

摘要： A vehicle controller includes a processor configured to: determine a driving plan when a lane change from a host vehicle lane to another lane is requested. The driving plan represents travel behavior of a vehicle until completion of the lane change and satisfies a safety condition that the vehicle will collide with none of objects around the vehicle detected from a sensor signal obtained by a sensor mounted on the vehicle. The processor is further configured to: set a completion condition indicating a position or time at which the completion of the lane change is required, determine whether the completion condition is satisfied when the vehicle is driven according to the driving plan, control the vehicle to make the lane change according to the driving plan when the completion condition is satisfied, and restrict execution of the lane change when the completion condition is not satisfied.

公开(公告)号：US12091004B2

公开(公告)日：2024-09-17

申请号：US17370720

申请日：2021-07-08

申请人： DENSO CORPORATION

发明人： Shunya Kumano ,  Takeshi Shikimachi ,  Hiroki Ukai

IPC分类号： B60W30/12 ,  B60W40/02 ,  G01S7/292 ,  G01S17/42 ,  G01S17/89 ,  G01S17/931 ,  G06V20/56 ,  G06V20/58

CPC分类号： B60W30/12 ,  B60W40/02 ,  G01S7/292 ,  G01S17/42 ,  G01S17/89 ,  G01S17/931 ,  G06V20/58 ,  G06V20/588 ,  B60W2552/53 ,  B60W2554/4041 ,  B60W2556/40

摘要： The position of the distance measurement point is acquired from the distance measurement sensor, the lateral position of the road boundary is estimated from the most frequent value in the frequency distribution indicating the distribution status of the distance measurement point group. When multiple peaks having a frequency in the frequency distribution equal to or higher than a predetermined value are disposed on one of the left side and the right side of the vehicle, it is determined whether the estimation of the road boundary is in an unstable state. The vehicle position on the map is specified, and the traveling lane of the vehicle is estimated based on the information about the numerical number of traffic lanes and the positional relationship of the road boundary without using the estimation result of the lateral position of the road boundary in the unstable state.

公开(公告)号：US12087061B2

公开(公告)日：2024-09-10

申请号：US18468783

申请日：2023-09-18

申请人： MAGNA ELECTRONICS INC.

发明人： Niall R. Lynam ,  Axel Nix

IPC分类号： G06V20/00 ,  B60Q9/00 ,  B60R1/12 ,  B60R1/26 ,  B60R1/27 ,  B60R1/28 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W40/02 ,  B60W50/00 ,  G05D1/00 ,  G06V20/58 ,  H04N23/63 ,  H04N23/90

CPC分类号： G06V20/58 ,  B60Q9/005 ,  B60R1/12 ,  B60R1/26 ,  B60R1/27 ,  B60R1/28 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W40/02 ,  B60W50/0098 ,  G05D1/0061 ,  H04N23/63 ,  H04N23/90 ,  B60R2001/1215 ,  B60R2001/1253 ,  B60R2300/105 ,  B60R2300/302 ,  B60R2300/303 ,  B60R2300/605 ,  B60R2300/607 ,  B60R2300/806

摘要： A vehicular control system includes a central control module vehicle, a plurality of vehicular cameras disposed at a vehicle and viewing exterior of the vehicle, and a plurality of radar sensors disposed at the vehicle and sensing exterior of the vehicle. The plurality of vehicular cameras includes at least (i) a forward-viewing vehicular camera, (ii) a driver side sideward-viewing vehicular camera and (iii) a passenger side sideward-viewing vehicular camera. The central control module receives vehicle data relating to operation of the vehicle. Responsive at least in part to processing at the central control module of (i) image data captured by at least the forward-viewing vehicular camera and (ii) radar data captured by at least the front radar sensor, the vehicular control system at least in part controls a plurality of driver assistance systems of the vehicle.

公开(公告)号：US20240295409A1

公开(公告)日：2024-09-05

申请号：US18573970

申请日：2022-03-02

申请人： Hitachi Astemo, Ltd.

发明人： Koichi ANDO ,  Keisuke AMPO

IPC分类号： G01C21/36 ,  B60W40/02 ,  B60W60/00

CPC分类号： G01C21/3658 ,  B60W40/02 ,  B60W60/001

摘要： An object of the present invention is to suppress deterioration of comfort of autonomous driving due to on-road parking on a general road. The present invention is a vehicle control system including: a first map storage unit that stores first map information including lane information; a second map storage unit that stores second map information including property information including a store or a facility; a route acquisition unit that acquires a travel route of a vehicle; a property acquisition unit that acquires the property information adjacent to the travel route; and a determination unit that determines a recommended lane based on the property information, in which when the vehicle autonomously travels on a general road, it is possible to prevent deterioration of comfort or cancellation of autonomous driving due to a vehicle stopping on the road, and to notify of recommended travel lane information with increased prediction accuracy by determining whether or not there is a vehicle parked on a road by a combination of a store (static information) and a vehicle speed (dynamic information). In addition, it is possible to operate at low cost without communicating with the outside and without performing off-line map processing or the like.

公开(公告)号：US12077174B2

公开(公告)日：2024-09-03

申请号：US17894320

申请日：2022-08-24

申请人： Toyota Motor Engineering & Manufacturing North America, Inc.

发明人： Seyhan Ucar ,  Emrah Akin Sisbot ,  Kentaro Oguchi

IPC分类号： B60W50/14 ,  B60K35/00 ,  B60W40/02 ,  B60W40/08 ,  B60K35/28 ,  B60K35/29

CPC分类号： B60W50/14 ,  B60K35/00 ,  B60W40/02 ,  B60W40/08 ,  B60K35/28 ,  B60K35/29 ,  B60K2360/178 ,  B60K2360/1868 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2554/4046 ,  B60W2555/20

摘要： Compensation can be made for mismatch in abnormal driving behavior detection between an ego vehicle and its human driver. Sensor data of a surrounding driving environment can be acquired. The acquired sensor data can be analyzed to detect abnormal driving behavior by a vehicle in the surrounding driving environment. Responsive to detecting abnormal driving behavior by the vehicle in the surrounding driving environment, the abnormal driving behavior can be classified as to whether it is severe. If the abnormal driving behavior is classified as not being severe, an amplified version of the abnormal driving behavior can be caused to be presented to the human driver of the ego vehicle.

公开(公告)号：US12054149B2

公开(公告)日：2024-08-06

申请号：US17071156

申请日：2020-10-15

申请人： Stack AV Co.

发明人： Michael David George ,  Tekin Alp Meriçli ,  Cetin Alp Meriçli ,  Venkataramanan David Rajagopalan ,  Alonzo James Kelly

IPC分类号： B60W10/20 ,  B60W30/12 ,  B60W30/165 ,  B60W30/18 ,  B60W40/02 ,  B60W50/00 ,  B60W60/00

CPC分类号： B60W30/165 ,  B60W30/12 ,  B60W30/18163 ,  B60W2420/403 ,  B60W2552/53 ,  B60W2554/4041 ,  B60W2554/4048 ,  B60W2554/801 ,  B60W2554/802

摘要： Techniques for operating an autonomous follower vehicle that is following a leader vehicle. A desired path to be traversed by the follower may be determined from a Leader Follower Relative Pose (LFRP) derived from sensor data. A pursuit pose is derived along the desired path from the present leader pose, such as either interpolating backward or forward. As a result, the pursuit distance no longer needs to be the same as the distance derived solely from the LFRP. This permits steering controls (lateral position) to be freed from requirements to satisfy safety constraints that might otherwise be imposed by other considerations (such as longitudinal spacing between vehicles).

公开(公告)号：US20240253665A1

公开(公告)日：2024-08-01

申请号：US18160649

申请日：2023-01-27

申请人： GM Cruise Holdings LLC

发明人： Ujjwal Das GUPTA ,  Rostyslav LESIV ,  Bradley Larkin SAUND ,  Dmitry PANIN ,  Samuel J. ABRAHAMS

IPC分类号： B60W60/00 ,  B60W30/095 ,  B60W40/02

CPC分类号： B60W60/0016 ,  B60W30/095 ,  B60W40/02 ,  B60W2420/00 ,  B60W2554/80

摘要： Systems and methods are provided herein for an AV to more efficiently, quickly, and accurately determine a likelihood of collision with another object, for example, by recursive triangulation. A candidate trajectory of the AV is then selected for controlling the AV based on the determined likelihood(s) of collision. According to one example, the likelihood of collision is determined by: 1) recursively triangulating a convex hull that defines all of the locations in which a collision would occur between the object and the AV (e.g., in a manner similar to the Sierpiński method), and 2) multiplying the area of each resulting triangular region by the value of a probability density that defines all of the locations in which a collision would occur between the object and the AV function in that region.