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公开(公告)号：US20200042017A1
公开(公告)日：2020-02-06
申请号：US16415379
申请日：2019-05-17
Applicant: Honda Motor Co., Ltd.
Inventor： Paritosh Kelkar , Xue Bai , Samer Rajab , Hasan Tafish
IPC: G05D1/02 , G08G1/00 , G01S5/00 , G01S5/02 , B60W30/165
Abstract: Systems and methods for shared autonomy through cooperative sensing are described. According to one embodiment, a cooperative sensing system includes a rendezvous module that receives broadcast messages from a plurality of cooperating vehicles on the roadway. The rendezvous module also selects a subordinate vehicle from the plurality of cooperating vehicles based on the autonomy level of the subordinate vehicle as compared to an autonomy level of a principal vehicle. The cooperative sensing system also includes a positioning module that determines a cooperative position of the principal vehicle and the subordinate vehicle. The cooperative sensing system further includes a negotiation module that receives at least one cooperating parameter from the subordinate vehicle. The cooperative sensing system includes a perception module that initiates cooperative automation the subordinate vehicle according to the at least one cooperating parameter when the principal vehicle and the subordinate vehicle are positioned in the cooperative position.
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公开(公告)号：US10334331B2
公开(公告)日：2019-06-25
申请号：US15686250
申请日：2017-08-25
Applicant: Honda Motor Co., Ltd.
Inventor： Samir K. Al-Stouhi , Paritosh Kelkar , Hasan Tafish
Abstract: A method and system for controlling vehicle sensor data acquisition using a vehicular communication network, including synchronizing a local clock signal of a first vehicle and a local clock signal of a second vehicle with a global time signal. Further, determining a capture interval for a sensor data acquisition process time that maximizes a total number of data frames that can be captured by a sensor of the first vehicle and by a sensor of the second vehicle. Based on the capture interval, transmitting a first sensor trigger pulse to the sensor of the first vehicle and transmitting a second sensor trigger pulse according to the sensor of the second vehicle. The first vehicle transmits the sensor data from the sensor of the first vehicle to the second vehicle, and the second vehicle transmits the sensor data from the sensor of the second vehicle to the first vehicle.
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公开(公告)号：US10338196B2
公开(公告)日：2019-07-02
申请号：US16177366
申请日：2018-10-31
Applicant: Honda Motor Co., Ltd.
Inventor： Samir Al-Stouhi , Paritosh Kelkar , Hasan Tafish
Abstract: A method and system for controlling sensor data acquisition using a vehicular communication network is provided. An example method includes establishing an operable connection between a first vehicle and remote vehicles. The first vehicle and the remote vehicles operate based upon a common time base according to a global time signal. The method includes receiving capability data that includes a sensor actuation time slot of each of the remote vehicles indicting a time slot at which the sensors of each of the remote vehicles are actuating. The sensor actuation time slot of each of the remote vehicle is different. The method also includes dividing a clock cycle into a plurality of time slots based on the remote vehicles and controlling, according to the plurality of time slots and the sensor actuation time slot, sensor actuation of a sensor of the first vehicle and the sensors of the remote vehicles.
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4.发明申请公开(公告)号：US20190069051A1
公开(公告)日：2019-02-28
申请号：US15686250
申请日：2017-08-25
Applicant: Honda Motor Co., Ltd.
Inventor： Samir K. Al-Stouhi , Paritosh Kelkar , Hasan Tafish
CPC classification number: H04Q9/00 , G07C5/008 , H04Q9/04 , H04Q2209/40 , H04Q2209/845
Abstract: A method and system for controlling vehicle sensor data acquisition using a vehicular communication network, including synchronizing a local clock signal of a first vehicle and a local clock signal of a second vehicle with a global time signal. Further, determining a capture interval for a sensor data acquisition process time that maximizes a total number of data frames that can be captured by a sensor of the first vehicle and by a sensor of the second vehicle. Based on the capture interval, transmitting a first sensor trigger pulse to the sensor of the first vehicle and transmitting a second sensor trigger pulse according to the sensor of the second vehicle. The first vehicle transmits the sensor data from the sensor of the first vehicle to the second vehicle, and the second vehicle transmits the sensor data from the sensor of the second vehicle to the first vehicle.
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公开(公告)号：US20200042013A1
公开(公告)日：2020-02-06
申请号：US16050158
申请日：2018-07-31
Applicant: Honda Motor Co., Ltd.
Inventor： Paritosh Kelkar , Xue Bai , Samer Rajab , Hasan Tafish
Abstract: Systems and methods for shared autonomy through cooperative sensing are described. According to one embodiment, a cooperative sensing system includes a rendezvous module that receives broadcast messages from a plurality of cooperating vehicles on the roadway. The rendezvous module also selects a subordinate vehicle from the plurality of cooperating vehicles based on the autonomy level of the subordinate vehicle as compared to an autonomy level of a principal vehicle. The cooperative sensing system also includes a positioning module that determines a cooperative position of the principal vehicle and the subordinate vehicle. The cooperative sensing system further includes a negotiation module that receives at least one cooperating parameter from the subordinate vehicle. The cooperative sensing system includes a perception module that initiates cooperative automation the subordinate vehicle according to the at least one cooperating parameter when the principal vehicle and the subordinate vehicle are positioned in the cooperative position.
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Patent Agency Ranking
公开(公告)号：US20190196025A1
公开(公告)日：2019-06-27
申请号：US15851536
申请日：2017-12-21
Applicant: Honda Motor Co., Ltd.
Inventor： Samir K. Al-Stouhi , Paritosh Kelkar , Hasan Tafish
IPC: G01S19/46
Abstract: A computer-implemented method and system for vehicle path estimation using a vehicular communication network. The method includes receiving a first set of position measurements of a first remote vehicle and a second set of position measurements of the first remote vehicle from messages transmitted using the vehicular communication network. The method includes determining a path shape of an initial path estimate of the first remote vehicle. The initial path estimate is based on the first set of position measurements. The method includes determining a corrected vehicle path estimate of the first remote vehicle by fitting the second set of position measurements to the path shape of the initial path estimate.
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公开(公告)号：US20230091276A1
公开(公告)日：2023-03-23
申请号：US17477729
申请日：2021-09-17
Inventor： Samer RAJAB , Shigenobu Saigusa , Paritosh Kelkar , Yasir Khudhair Al-Nadawi , Yusen Chen , Tyler Naes , James Schultz , Cameron Rainey , Steven Huggins , Shane McLaughlin , Kevin Kefauver
Abstract: A system and method for controlling a merge vehicle travelling along a highway having a merge lane and a main lane. The method includes receiving merge data about the merge vehicle and a surrounding environment of the merge vehicle. The method includes detecting an intent to perform a merge maneuver by the merge vehicle from the merge lane to the main lane based on the merge data. Further, the method includes generating a graph having a plurality of nodes connected by edges. The plurality of nodes includes a start node set to a current position of the merge vehicle and a goal node located in the main lane after the merge lane has ended. The method includes calculating a three-dimensional (3D) trajectory based on the graph by optimizing edge costs from the start node to the goal node, and controlling the merge vehicle based on the 3D trajectory.
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公开(公告)号：US11163317B2
公开(公告)日：2021-11-02
申请号：US16415379
申请日：2019-05-17
Applicant: Honda Motor Co., Ltd.
Inventor： Paritosh Kelkar , Xue Bai , Samer Rajab , Hasan Tafish
IPC: B60W30/165 , G05D1/02 , G08G1/00 , G01S5/02 , G01S5/00
Abstract: Systems and methods for shared autonomy through cooperative sensing are described. According to one embodiment, a cooperative sensing system includes a rendezvous module that receives broadcast messages from a plurality of cooperating vehicles on the roadway. The rendezvous module also selects a subordinate vehicle from the plurality of cooperating vehicles based on the autonomy level of the subordinate vehicle as compared to an autonomy level of a principal vehicle. The cooperative sensing system also includes a positioning module that determines a cooperative position of the principal vehicle and the subordinate vehicle. The cooperative sensing system further includes a negotiation module that receives at least one cooperating parameter from the subordinate vehicle. The cooperative sensing system includes a perception module that initiates cooperative automation the subordinate vehicle according to the at least one cooperating parameter when the principal vehicle and the subordinate vehicle are positioned in the cooperative position.
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公开(公告)号：US10757485B2
公开(公告)日：2020-08-25
申请号：US15686262
申请日：2017-08-25
Applicant: Honda Motor Co., Ltd.
Inventor： Samir K. Al-Stouhi , Paritosh Kelkar , Hasan Tafish
Abstract: A method for controlling vehicle sensor data acquisition using a vehicular communication network includes, receiving a global time signal at the first vehicle and at the second vehicle. The first vehicle synchronizes a local clock signal of the first vehicle with the global time signal, and the second vehicle synchronizes a local clock signal of the second vehicle with the global time signal. Further, the method includes determining a capture interval that minimizes a time between actuation of a sensor of the first vehicle and actuation of a sensor of the second vehicle. The method includes actuating, according to the capture interval, the sensor of the first vehicle and the sensor of the second vehicle. The first vehicle transmits to the second vehicle the sensor data, and the second vehicle transmits to the first vehicle the sensor data.
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公开(公告)号：US10168418B1
公开(公告)日：2019-01-01
申请号：US15851566
申请日：2017-12-21
Applicant: Honda Motor Co., Ltd.
Inventor： Samir K. Al-Stouhi , Paritosh Kelkar , Hasan Tafish
Abstract: A computer-implemented method and system for controlling sensor data acquisition including establishing an operable connection for computer communication between a first vehicle and remote vehicles within a communication range. The method includes receiving capability data corresponding to the capabilities of sensors of the one or more remote vehicles, including a sensor actuation time slot. The method includes selecting a set of N remote vehicles based on the capability data. The set of N remote vehicles consists remote vehicles closest to the first vehicle, and the sensor actuation time slot of each of the remote vehicles in the set of N remote vehicles are different. The method includes dividing a clock cycle into a plurality of time slots, and controlling, according to the plurality of time slots and the sensor actuation time slot, sensor actuation.
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