公开(公告)号：US20220317697A1

公开(公告)日：2022-10-06

申请号：US17706127

申请日：2022-03-28

Applicant: DENSO CORPORATION ,  Waymo LLC

Inventor： Maxim LIKHACHEV ,  Ellis RATNER ,  Lu LYU ,  Abhinav Srinivas Sai Kiran KUNAPAREDDY ,  Savio Joseph PEREIRA ,  Jonathan Michael BUTZKE ,  Yunfei XU ,  Takashi BANDO ,  Akihito IWAI

IPC: G05D1/02 ,  G05D1/00 ,  G06N20/00

Abstract: A multi-dimensional trajectory planning system is disclosed that includes planning and actuator modules. The planning module executes the planning application to: determine a first dimensionality including first dimensions for a first stage, where each of the first dimensions are active, and where the first dimensions include two or more dimensions; determine a second dimensionality including second dimensions for a second stage, where the second dimensions include the first dimensions or a subset of the first dimensions, and where the second stage has a lower level of dimensionality than the first stage; based on map data and sensor data, estimates first possible future states of the first dimensions for the first stage, and estimates second possible future states of the second dimensions for the second stage based on the first possible future states; and selects a trajectory plan based on the second possible future states.

公开(公告)号：US20190280954A1

公开(公告)日：2019-09-12

申请号：US16255507

申请日：2019-01-23

Applicant: DENSO International America, Inc. ,  DENSO CORPORATION

Inventor： Haris VOLOS ,  Takashi BANDO ,  Kenji KONISHI

IPC: H04L12/26 ,  H04W4/40 ,  G06N7/00

Abstract: A vehicle application enabling system is provided and includes a memory and initialization, latency evaluation, and application enable modules. The initialization module: receives a maximum network latency; sets a percentage of occurrences that the maximum network latency is not satisfied, a maximum false positive rate, and a maximum deviation value; and calculates a weighting factor based on the percentage of occurrences, maximum false positive rate and maximum deviation value. The latency evaluation module implements a latency evaluation algorithm, which includes: comparing one or more latency estimates to the maximum network latency to provide one or more samples; updating confusion matrix statistics based on the one or more samples; updating a probability threshold based on the maximum false positive rate; updating weighted observations based on the weighting factor; and determining a predicted decision based on the probability threshold. The application enable module executes the vehicle application based on the probability threshold.

公开(公告)号：US20180261093A1

公开(公告)日：2018-09-13

申请号：US15451957

申请日：2017-03-07

Applicant: Denso International America, Inc. ,  DENSO CORPORATION

Inventor： Yunfei XU ,  Takashi BANDO

IPC: G08G1/16 ,  B60W10/20 ,  B60W10/18 ,  B60W30/095 ,  B60W10/04 ,  B60W40/12 ,  B60W40/04 ,  G05D1/00 ,  G05D1/02

Abstract: A system and method are provided and include a subject vehicle having vehicle actuation systems and vehicle sensors. A planning system includes a global route planner module, an inference module, a motion planner module, and a trajectory follower module. The inference module receives a route from the global route planner module and dynamic obstacles data from a perception system and determines a total cost for different sets of motions associated with different trajectories for traveling along the received route. The total cost includes an inferred cost based on a probability of the associated set of motions having an increased or decreased cost based on the dynamic obstacles data. The motion planner selects a particular set of motions based on the total costs and generates a smooth trajectory for the vehicle. The trajectory follower module controls the vehicle actuation systems based on the smooth trajectory.

公开(公告)号：US20140028848A1

公开(公告)日：2014-01-30

申请号：US13948235

申请日：2013-07-23

Applicant: DENSO CORPORATION

Inventor： Kazuhito TAKENAKA ,  Takashi BANDO ,  Takayuki MIYAHARA

IPC: H04N7/18

CPC classification number: H04N7/18 ,  G07C5/0866 ,  G11B27/034 ,  G11B27/28

Abstract: A drive video recording device is provided. The drive video recording device creates a summarized moving image in which the inputted video is culled such that a playback speed of the video of the time period during which the amount of information is smaller is faster than a playback speed of the video of the time period during which the amount of information is larger, and stores the summarized moving image in a storage section.

Abstract translation: 提供驱动视频记录装置。 驱动视频记录装置创建总结的运动图像，其中输入的视频被淘汰，使得信息量较小的时间段的视频的播放速度比时间段的视频的播放速度快 其中信息量较大，并将汇总的运动图像存储在存储部分中。

公开(公告)号：US20140334719A1

公开(公告)日：2014-11-13

申请号：US14271543

申请日：2014-05-07

Applicant: DENSO CORPORATION

Inventor： Kazuhito TAKENAKA ,  Takashi BANDO ,  Hossein TEHRANI NIKNEJAD ,  Masumi EGAWA

IPC: G06K9/62 ,  G06K9/46

CPC classification number: G06K9/00369 ,  G06K9/00805 ,  G06K9/629

Abstract: In an object identification device, each score calculator extracts a feature quantity from the image, and calculates a score using the extracted feature quantity and a model of the specified object. The score represents a reliability that the specified object is displayed in the image. A score-vector generator generates a score vector having the scores as elements thereof. A cluster determiner determines, based on previously determined clusters in which the score vector is classifiable, one of the clusters to which the score vector belongs as a target cluster. An object identifier identifies whether the specified object is displayed in the image based on one of the identification conditions. The one of the identification conditions is previously determined for the target cluster determined by the cluster determiner.

Abstract translation: 在对象识别装置中，每个乐谱计算器从图像中提取特征量，并使用所提取的特征量和指定对象的模型来计算得分。 分数表示指定对象在图像中显示的可靠性。 得分向量生成器生成具有得分作为其分数的分数向量。 集群确定器基于先前确定的分数向量可分类的集群来确定分数矢量所属于的集群之一作为目标集群。 对象标识符基于识别条件之一来识别指定对象是否显示在图像中。 先前确定由群集确定器确定的目标群集的识别条件之一。

公开(公告)号：US20160140779A1

公开(公告)日：2016-05-19

申请号：US14940190

申请日：2015-11-13

Applicant: DENSO CORPORATION

Inventor： Kazuhito TAKENAKA ,  Takashi BANDO ,  Masumi EGAWA

IPC: G07C5/00

CPC classification number: G07C5/008 ,  G07C5/0816

Abstract: A drive data collection system includes an in-vehicle system and an information center. The in-vehicle system includes a data collector that repeatedly collects measurement values indicative of various indexes regarding a state of a subject vehicle, a model memory that memorizes model information regarding discretization rules that are shared by each of participating vehicles in the system, and a data discretizer that discretizes drive data, which includes time-series measurement values collected by the data collector, into multiple data parts according to the model information. The information center includes a data accumulator that accumulates the discretized drive data in a server. The in-vehicle system sends the discretized drive data to the information center through a communicator. Therefore, the drive data collection system efficiently collects the drive data in a versatilely-utilizable manner for the analysis of general driving practices/behaviors.

Abstract translation: 驱动数据收集系统包括车载系统和信息中心。 车载系统包括数据收集器，其重复地收集指示关于本车辆的状态的各种指标的测量值，存储关于系统中每个参与车辆共享的离散规则的模型信息的模型存储器，以及 数据离散化器，其将包括由数据收集器收集的时间序列测量值的驱动数据根据型号信息离散化成多个数据部分。 信息中心包括一个数据累加器，用于在服务器中累加离散的驱动数据。 车载系统通过通信器将离散的驱动数据发送到信息中心。 因此，驱动数据收集系统以通用的方式有效地收集驱动数据，以便分析一般驾驶习惯/行为。