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Publication/Patent Number: US2021181750A1 Publication Date: 2021-06-17 Application Number: 16/716,411 Filing Date: 2019-12-16 Inventor: Gogna, Ravi   Goldman, Meredith James   O'donnell, Edward William   Ramirez, Frank Reinaldo   Schafer, Dennis   Sheng, Wenhao   Young, Matthew Miller   Assignee: Zoox, Inc.   IPC: G05D1/02 Abstract: Techniques to provide guidance to a vehicle operating in an environment may include determining a suggested region to block in the environment along a path of the vehicle and causing presentation of the suggested region to block in a user interface of the computer device. Information about the blocked region may be transmitted to one or more vehicles in the environment. Based on the information about the blocked region, at least one of the computer device or a vehicle computer system of the vehicle may control operation of the vehicle to avoid the blocked region.
Vehicle control device for setting vehicle offset spacing
Publication/Patent Number: US11054832B2 Publication Date: 2021-07-06 Application Number: 16/284,539 Filing Date: 2019-02-25 Inventor: Saikyo, Marina   Miura, Hiroshi   Yanagihara, Suguru   Takada, Yuta   Kobayashi, Shogo   Assignee: Honda Motor Co., Ltd.   IPC: G05D1/02 Abstract: If an external environment recognition unit recognizes another vehicle that is positioned along a travel lane, an offset setting unit sets an offset amount in a direction of separating a host vehicle from the other vehicle. The offset setting unit sets the offset amount (predetermined amount) to be smaller in a case where the external environment recognition unit identifies the other vehicle as a streetcar, than the offset amount (predetermined amount) in a case where the external environment recognition unit identifies the other vehicle as an vehicle other than the streetcar.
Methods for communicating state, intent, and context of an autonomous vehicle
Publication/Patent Number: US11079765B2 Publication Date: 2021-08-03 Application Number: 16/286,294 Filing Date: 2019-02-26 Inventor: Reiley, Carol   Espinel, Daniel   Wistort, Ryan   Paris, Michael   Assignee: Direct Current Capital LLC   IPC: B60Q1/26 Abstract: One variation of a method for communicating state, intent, and context of an autonomous vehicle includes: at a first time, displaying a first icon representing a current state of a vehicle on a rear-facing visual display arranged on the vehicle; navigating toward an intersection; at a second time, detecting a state of the intersection ahead of the vehicle; rendering a second icon representing the state of the intersection at the second time on the rear-facing visual display; detecting a change in the state of the intersection at a third time succeeding the second time; selecting a next navigation action for the vehicle responsive to the change in the state of the intersection at the third time; prior to executing the next navigation action, rendering a third icon representing the next navigation action on the rear-facing visual display; and autonomously executing the next navigation action.
Publication/Patent Number: US2021191406A1 Publication Date: 2021-06-24 Application Number: 17/174,844 Filing Date: 2021-02-12 Inventor: Shalev-shwartz, Shai   Shammah, Shaked   Shashua, Amnon   Cohen, Barak   Adelman, Zeev   Assignee: Mobileye Vision Technologies Ltd.   IPC: G05D1/02 Abstract: Systems and methods are provided for navigating a host vehicle. At least one processing device may be programmed to receive an image representative of an environment of the host vehicle; determine a planned navigational action for the host vehicle; analyze the image to identify a target vehicle in the environment of the host vehicle; determine a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a lateral braking distance for the host vehicle and the target vehicle based on a maximum yaw rate capability, a maximum change in turn radius capability, and a current lateral speed of the host vehicle and the target vehicle; and implement the planned navigational action if the determined next-state distance is greater than a sum of the lateral braking distances for the host vehicle and the target vehicle.
Publication/Patent Number: US2021191405A1 Publication Date: 2021-06-24 Application Number: 17/036,024 Filing Date: 2020-09-29 Inventor: Ma'as, Moehammad Dzaky Fauzan   Setiawan, Arif   Saputra, Muchlisin Adi   Lazuardi, Shah Dehan   Fadlil, Junaidillah   Kosasih, Andreas   Assignee: SAMSUNG ELECTRONICS CO., LTD.   IPC: G05D1/02 Abstract: An operating method for navigating a device in a dynamic environment is provided. The method includes building a map based on sensor data, localizing a position of the device on the map based on the sensor data, determining a first position of a moving object on the map based on the sensor data, determining a momentum of the moving object, determining a second position of the moving object on the map based on the determined momentum, and changing the position of the device based on the determined second position of the moving object and a position of at least one obstacle.
Solution path overlay interfaces for autonomous vehicles
Publication/Patent Number: US10890915B2 Publication Date: 2021-01-12 Application Number: 16/463,236 Filing Date: 2017-12-06 Inventor: Pedersen, Liam   Sierhuis, Maarten   Utz, Hans   Penna, Mauro Della   Fong, Terrence   Allan, Mark   Bualat, Maria   Schafer, Eric   Assignee: Nissan North America, Inc.   United States of America as Represented by the Administrator of NASA   IPC: G05D1/02 Abstract: Methods and systems for generating a solution path overlay interface to transmit a solution path are described. The disclosed technology includes receiving vehicle data and external data from a vehicle. The vehicle data includes a vehicle location and a vehicle destination, and the external data includes a location and a movement path for each of a plurality of external objects. A solution path is determined between the vehicle location and the vehicle destination, wherein the solution path does not intersect with the plurality of external objects. A solution path overlay interface is generated that includes the vehicle traveling the solution path and at least some of the plurality of external objects. The solution path overlay interface is outputted for display that is configured to receive a command from an operator which results in an updated solution path that is transmitted to the vehicle for execution.
Publication/Patent Number: US2021004013A1 Publication Date: 2021-01-07 Application Number: 17/026,684 Filing Date: 2020-09-21 Inventor: Chen, Bin   Doria, David   Sutton, Hank   Endres, Ian   Assignee: HERE Global B.V.   IPC: G05D1/02 Abstract: A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface.
Publication/Patent Number: US2021004010A1 Publication Date: 2021-01-07 Application Number: 16/458,853 Filing Date: 2019-07-01 Inventor: Pan, Jiacheng   Jiang, Yifei   Zhang, Yajia   Tao, Jiaming   Hu, Jiangtao   Assignee: Baidu USA LLC   IPC: G05D1/02 Abstract: According to one embodiment, during a first planning cycle, a first lane boundary of a driving environment perceived by an ADV is determined using a first lane boundary determination scheme (e.g., current lane boundary), which has been designated as a current lane boundary determination scheme. A first trajectory is planned based on the first lane boundary to drive the ADV to navigate through the driving environment. The first trajectory is evaluated against a predetermined set of safety rules (e.g., whether it will collide or get too close to an object) to avoid a collision with an object detected in the driving environment. In response to determining that the first trajectory fails to satisfy the safety rules, a second lane determination boundary of the driving environment is determined using a second lane boundary determination scheme and a second trajectory is planned based on the second lane boundary to drive the ADV.
Publication/Patent Number: US2021089039A1 Publication Date: 2021-03-25 Application Number: 16/575,521 Filing Date: 2019-09-19 Inventor: Schultz, Eric John   Kirsch, Karl Arthur   Wallstedt, Philip Carl   Assignee: CATERPILLAR INC.   IPC: G05D1/02 Abstract: A control system for preventing vehicle collisions may include a vehicle location determination module, a terrain determination module, a terrain surface coefficient of friction estimation module, and a sensing system configured to generate signals indicative of vehicle speed, vehicle pose, vehicle size, vehicle weight, vehicle tire type, vehicle load, vehicle gear ratio, weather characteristics, and road conditions for a vehicle operating at a job site. A manned vehicle trajectory determination module may receive location information and plot a first travel path for a manned vehicle based at least in part on a location, heading, and speed of the manned vehicle and a desired destination for the manned vehicle. An autonomous vehicle trajectory determination module may receive location information, terrain information, and terrain surface coefficient of friction information, plot a second travel path for an autonomous vehicle, and determine projected slide trajectories for the autonomous vehicle at successive positions along the second travel path where the autonomous vehicle is predicted to lose traction based at least in part on signals received from the sensing system.
Navigating a Mobile Robot
Publication/Patent Number: US2021041878A1 Publication Date: 2021-02-11 Application Number: 16/661,062 Filing Date: 2019-10-23 Inventor: Seifert, Samuel   Da, Silva Marco   Rice, Alexander   Hepler, Leland   Bollini, Mario   Bentzel, Christopher   Assignee: Boston Dynamics, Inc.   IPC: G05D1/02 Abstract: A method for controlling a robot includes receiving image data from at least one image sensor. The image data corresponds to an environment about the robot. The method also includes executing a graphical user interface configured to display a scene of the environment based on the image data and receive an input indication indicating selection of a pixel location within the scene. The method also includes determining a pointing vector based on the selection of the pixel location. The pointing vector represents a direction of travel for navigating the robot in the environment. The method also includes transmitting a waypoint command to the robot. The waypoint command when received by the robot causes the robot to navigate to a target location. The target location is based on an intersection between the pointing vector and a terrain estimate of the robot.
Publication/Patent Number: US2021103286A1 Publication Date: 2021-04-08 Application Number: 16/593,592 Filing Date: 2019-10-04 Inventor: Wang, Binyu   Sze, Ho Pong   Fang, Laifa   Assignee: Hong Kong Applied Science and Technology Research Institute Co., Ltd.   IPC: G05D1/02 Abstract: Systems and methods providing adaptive path planning techniques utilizing localized learning with global planning are described. The adaptive path planning of embodiments provides global guidance and performs local planning based on localized learning, wherein the global guidance provides a planned path through the dynamic environment from a start location to a selected destination while the local planning provides for dynamic interaction within the environment in reaching the destination, such as in response to obstacles entering the planned path. Global guidance may combine an initial global path with history information for providing a global path configured to avoid points of frequent traffic conflicts. Local planning may utilize localized deep reinforcement learning to direct interactions of an automated vehicle traversing the global path in a dynamic environment, such as in response to obstacles entering the global path. Sequential localized maps may be generated for deep learning models utilized by localized training techniques.
Publication/Patent Number: US2021141380A1 Publication Date: 2021-05-13 Application Number: 16/680,619 Filing Date: 2019-11-12 Inventor: Parasuram, Aishwarya   Iglesias, Jennifer   Sucan, Ioan-alexandru   Assignee: Waymo LLC   IPC: G05D1/02 Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle having an autonomous driving mode. For instance, sensor data generated by a perception system of a vehicle may be received. The sensor data identifying objects in an environment of the vehicle. A trajectory corresponding to a future path of the vehicle may be received. That the vehicle is approaching an unmarked crosswalk situation may be determined based on the trajectory and the sensor data. In response to the determination, an area for an unmarked crosswalk is identified. The vehicle may be controlled in the autonomous driving mode based on the determination and the area.
Sensor-based object-detection optimization for autonomous vehicles
Publication/Patent Number: US11022974B2 Publication Date: 2021-06-01 Application Number: 15/629,333 Filing Date: 2017-06-21 Inventor: Levinson, Jesse Sol   Kentley-klay, Timothy David   Douillard, Bertrand Robert   Assignee: Zoox, Inc.   IPC: G07C5/00 Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.
Autonomous vehicle routing during emergencies
Publication/Patent Number: US11022978B1 Publication Date: 2021-06-01 Application Number: 16/170,364 Filing Date: 2018-10-25 Inventor: Konrardy, Blake   Christensen, Scott T.   Hayward, Gregory   Farris, Scott   Assignee: State Farm Mutual Automobile Insurance Company   IPC: G05D1/00 Abstract: Methods and systems for autonomous and semi-autonomous vehicle routing are disclosed. Roadway suitability for autonomous operation is scored to facilitate use in route determination. Maps of roadways suitable for various levels of autonomous operation may be generated. Such map data may be used by autonomous vehicles or other computer devices in determining routes based upon criteria for vehicle trips. Such routes may be automatically updated based upon changes in road conditions, vehicle conditions, operator conditions, or environmental conditions. Emergency routing using such map data is described, such as automatic routing and travel when a passenger is experiencing a medical emergency.
Internal safety systems for robotic vehicles
Publication/Patent Number: US11099574B2 Publication Date: 2021-08-24 Application Number: 16/391,849 Filing Date: 2019-04-23 Inventor: Kentley-klay, Timothy David   Behere, Sagar   Gamara, Rachad Youssef   Assignee: Zoox, Inc.   IPC: G05D1/02 Abstract: Systems, apparatus and methods implemented in algorithms, hardware, software, firmware, logic, or circuitry may be configured to process data and sensory input to determine whether an object external to an autonomous vehicle (e.g., another vehicle, a pedestrian, road debris, a bicyclist, etc.) may be a potential collision threat to the autonomous vehicle. The autonomous vehicle may be configured to implement interior active safety systems to protect passengers of the autonomous vehicle during a collision with an object or during evasive maneuvers by the autonomous vehicle, for example. The interior active safety systems may be configured to provide passengers with notice of an impending collision and/or emergency maneuvers by the vehicle by tensioning seat belts prior to executing an evasive maneuver and/or prior to a predicted point of collision.
Publication/Patent Number: US2021271248A1 Publication Date: 2021-09-02 Application Number: 16/803,603 Filing Date: 2020-02-27 Inventor: Stander, Francois   Banninga, Joel D.   Schmidt, Michael J.   Graves, Maryanne E.   Assignee: Deere & Company   IPC: G05D1/02 Abstract: A mobile work machine includes a frame, a material loading system having a material receiving area configured to receive material and an actuator configured to control the material loading system to move the material receiving area relative to the frame, and a control system configured to receive an indication of a detected object, determine a location of the object relative to the material loading system, and generate a control signal that controls the mobile work machine based on the determined location.