公开(公告)号：US11945478B2

公开(公告)日：2024-04-02

申请号：US17100380

申请日：2020-11-20

Applicant: Ground Transportation Systems Canada Inc.

Inventor： David Beach ,  Alon Green ,  Walter Kinio

IPC: B61L23/04 ,  B61L15/00 ,  B61L25/02 ,  G01S13/88 ,  H04W4/02 ,  B61K9/08 ,  G01S13/931 ,  H04L67/12

CPC classification number: B61L23/041 ,  B61L15/0072 ,  B61L25/025 ,  G01S13/88 ,  H04W4/025 ,  H04W4/026 ,  H04W4/027 ,  B61K9/08 ,  G01S2013/932 ,  G01S2013/9322 ,  G01S2013/9328 ,  H04L67/12

Abstract: A method and system include receiving positioning and motion information from one or more positioning and motion devices on a vehicle on a guideway, based on the positioning and motion information, receiving information from a database on the vehicle, the information comprising track geometry information and infrastructure information corresponding to the guideway, using the track geometry information and positioning and motion information to determine a path of the guideway and a trajectory of the vehicle along the path, receiving data from one or more electromagnetic sensors on the vehicle, and detecting an object by using the trajectory, the infrastructure information, and the information from the one or more electromagnetic sensors.

公开(公告)号：US11938930B2

公开(公告)日：2024-03-26

申请号：US17587436

申请日：2022-01-28

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yuto Shimbo ,  Tsunekazu Yasoshima ,  Chen Xi

IPC: B60W30/09 ,  B60W30/095 ,  B60W40/105 ,  G01S13/42 ,  G01S13/58 ,  G01S13/931

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W40/105 ,  G01S13/42 ,  G01S13/584 ,  G01S13/931 ,  B60W2420/408 ,  B60W2554/4029 ,  B60W2554/80 ,  G01S2013/932 ,  G01S2013/93271

Abstract: A vehicle control apparatus selects, as a first group, objects in a predetermined area from objects included in object information, selects, as a second group, an upper limit number of the objects from the first group in descending order of a priority value when the number of the objects of the first group is greater than the upper limit number, and executes a collision avoidance control when an index value satisfies a predetermined condition. The priority value represents a probability that the own vehicle collides with the object. The apparatus reduces the priority value of a particular object of the first group when the moving speed of the own vehicle is equal to or lower than a moving speed threshold. The particular object is an object which is deemed to have a moving speed lower than a moving speed of a four-wheel vehicle.

公开(公告)号：US11922462B2

公开(公告)日：2024-03-05

申请号：US17183971

申请日：2021-02-24

Applicant: NIO Technology (Anhui) Co., Ltd.

Inventor： Fei Xiao ,  Chris Pouliot

IPC: G06Q30/0251 ,  A61B5/01 ,  A61B5/024 ,  A61B5/08 ,  A61B5/16 ,  A61B5/18 ,  B60R11/04 ,  B60S1/56 ,  B60S1/62 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W40/04 ,  B60W40/08 ,  B60W40/09 ,  B60W40/105 ,  B60W50/00 ,  B60W50/08 ,  B62D15/00 ,  B62D15/02 ,  G01C21/34 ,  G01C21/36 ,  G01S7/40 ,  G01S7/497 ,  G01S13/86 ,  G01S13/87 ,  G01S15/02 ,  G01S17/89 ,  G02B27/00 ,  G05D1/00 ,  G06F16/29 ,  G06F16/95 ,  G08G1/16 ,  G01S13/931

CPC classification number: G06Q30/0266 ,  A61B5/01 ,  A61B5/024 ,  A61B5/08 ,  A61B5/165 ,  A61B5/18 ,  B60R11/04 ,  B60S1/56 ,  B60S1/62 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W40/04 ,  B60W40/08 ,  B60W40/09 ,  B60W40/105 ,  B60W50/0097 ,  B60W50/0098 ,  B60W50/08 ,  B60W50/082 ,  B62D15/00 ,  B62D15/0265 ,  G01C21/3407 ,  G01C21/3461 ,  G01C21/3469 ,  G01C21/3484 ,  G01C21/3492 ,  G01C21/3682 ,  G01C21/3691 ,  G01C21/3697 ,  G01S7/4021 ,  G01S7/497 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/87 ,  G01S15/02 ,  G01S17/89 ,  G02B27/0006 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0214 ,  G05D1/0221 ,  G05D1/0276 ,  G06F16/29 ,  G06F16/95 ,  G06Q30/0269 ,  G08G1/161 ,  G08G1/163 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166 ,  B60W2040/0809 ,  B60W2050/0004 ,  B60W2050/0014 ,  B60W2300/34 ,  B60W2510/08 ,  B60W2510/18 ,  B60W2520/04 ,  B60W2520/105 ,  B60W2540/043 ,  B60W2540/18 ,  B60W2540/22 ,  B60W2540/30 ,  B60W2554/00 ,  B60W2554/80 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2756/10 ,  B60W2900/00 ,  G01S7/4043 ,  G01S2007/4977 ,  G01S2013/9316 ,  G01S2013/9318 ,  G01S2013/93185 ,  G01S2013/9319 ,  G01S2013/932 ,  G01S2013/9322 ,  G01S2013/9325 ,  G01S2013/93271 ,  G01S2013/93272 ,  G01S2013/93273 ,  G01S2013/93274 ,  G01S2013/93275 ,  G05D2201/0212 ,  G07C5/0808 ,  G01S19/13

Abstract: Embodiments herein relate to an autonomous vehicle or self-driving vehicle. The system can determine a collision avoidance path by: 1) predicting the behavior/trajectory of other moving objects (and identifying stationary objects); 2) given the driving trajectory (issued by autonomous driving system) or predicted driving trajectory (human), establishing the probability for a collision that can be calculated between the vehicle and one or more objects; and 3) finding a path to minimize the collision probability.

公开(公告)号：US20230408642A1

公开(公告)日：2023-12-21

申请号：US17845913

申请日：2022-06-21

Applicant: QUALCOMM Incorporated

Inventor： Jean-Philippe MONTEUUIS ,  Jonathan PETIT ,  William WHYTE ,  Cong CHEN ,  Mohammad Raashid ANSARI ,  Virendra KUMAR

IPC: G01S7/40 ,  G01S13/931 ,  G01S5/02

CPC classification number: G01S7/40 ,  G01S13/931 ,  G01S5/021 ,  G01S2013/932

Abstract: Disclosed are systems, apparatuses, processes, and computer-readable media for wireless communications. For example, a process may include determining a potential position overlap between a first vehicle and a second vehicle and determining a characteristic of at least one of the first vehicle or the second vehicle based on information from a vehicle-based message. The process may include determining whether the potential position overlap is an actual position overlap between the first vehicle and the second vehicle based on the characteristic.

公开(公告)号：US11841419B2

公开(公告)日：2023-12-12

申请号：US16851795

申请日：2020-04-17

Applicant: DENSO CORPORATION

Inventor： Yusuke Akamine ,  Yasuyuki Miyake

IPC: G01S13/62 ,  B60W30/095 ,  G01S13/931 ,  G01S13/60 ,  G01S13/52

CPC classification number: G01S13/62 ,  B60W30/0956 ,  G01S13/52 ,  G01S13/60 ,  G01S13/931 ,  G01S2013/932 ,  G01S2013/9322

Abstract: A moving object recognition apparatus includes an object detection section, a position detection section, a road direction estimation section, and a moving direction estimation section. The object detection section detects a moving object that moves on a road around an own vehicle and a roadside object by the road, from objects present around the own vehicle. The position detection section detects positions of the moving object and the roadside object detected by the object detection section. The road direction estimation section estimates a road direction of the road on which the moving object is moving, based on the position of the roadside object detected by the position detection section. The moving direction estimation section estimates a moving direction of the moving object based on the road direction estimated by the road direction estimation section.

公开(公告)号：US11802954B2

公开(公告)日：2023-10-31

申请号：US17126624

申请日：2020-12-18

Applicant: DENSO CORPORATION

Inventor： Yuki Anno ,  Sungwoo Cha

IPC: G01S13/72 ,  G01S13/931 ,  G01S13/58 ,  G01S13/42

CPC classification number: G01S13/726 ,  G01S13/426 ,  G01S13/584 ,  G01S13/931 ,  G01S2013/932 ,  G01S2013/93271

Abstract: A radar device including a transmission antenna; a reception antenna; and a controller detecting target information about a target by transmitting a transmission wave from the transmission antenna in multiple transmission/reception modes and by receiving a reception wave by the reception antenna. The multiple transmission/reception modes include: a scanning mode performing beam scanning within a detection angle range; a provisional tracking mode irradiating the transmission wave from the transmission antenna to each of the targets detected in the scanning mode for provisionally detecting target information; and a main tracking mode decisively detecting the target information of each of the targets by irradiating the transmission wave to the target using a transmission wave irradiation time that is set based on the target information provisionally detected in the provisional tracking mode.

公开(公告)号：US20230314602A1

公开(公告)日：2023-10-05

申请号：US18129557

申请日：2023-03-31

Applicant: Dr. Ing. h.c. F. Porsche Aktiengesellschaft

Inventor： Muhammed Tuerker ,  Ehsan Sharafian Ardakani ,  Janik Chrobak

IPC: G01S13/931 ,  G01S7/285 ,  G01S13/02 ,  G01S13/42

CPC classification number: G01S13/931 ,  G01S7/285 ,  G01S13/0209 ,  G01S13/42 ,  G01S2013/932

Abstract: The invention relates to a method for determining the position of a moving first object relative to another second object,
comprising the following method steps:



transmitting a first pulse signal S1 from a first transmitter (12) of the first object to a first receiver (22) of the second object, and returning the first pulse signal S1 from the first receiver (22) of the second object to the first transmitter (12) of the first object, wherein a first distance d1 between the first transmitter (12) and the first receiver (22) can be derived from a travel time Δt1 of the first pulse signal Si;
transmitting a second pulse signal S2 from a second transmitter (14) of the first object to the first receiver (22) and returning the second pulse signal S2 from the first receiver (22) of the second object to the second transmitter (14) of the first object, wherein a second distance d2 between the second transmitter (14) and the first receiver (22) can be derived from a travel time Δt2 of the second pulse signal S2;
forwarding the first distance d1 and/or the travel time Δt1 of the first pulse signal S1 and the second distance d2 and/or the travel time Δt2 of the second pulse signal S2 to a data processing module (30);
calculating a distance d and an angle β between the first object and the second object.

公开(公告)号：US11719810B2

公开(公告)日：2023-08-08

申请号：US17208065

申请日：2021-03-22

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Oren Longman ,  Igal Bilik

IPC: G01S13/90 ,  G06T11/00 ,  G01S13/931

CPC classification number: G01S13/904 ,  G01S13/9029 ,  G01S13/9094 ,  G01S13/931 ,  G06T11/006 ,  G01S2013/932 ,  G06T2207/10044

Abstract: A method for using Synthetic Aperture Radar (SAR) to perform a maneuver in a land vehicle is provided. The method includes: receiving digitized radar return data from a radar transmission from a SAR onboard the vehicle; accumulating a plurality of frames of the digitized radar return data; applying a RADON transform to the accumulated plurality of frames of the digitized radar return data and odometry data from the vehicle to generate transformed frames of data for each three-dimensional point, wherein the RADON transform is configured to perform coherent integration for each three-dimensional point, project a radar trajectory onto each three-dimensional point, and project Doppler information onto each three-dimensional point; generating a two-dimensional map of an area covered by the radar transmission from the SAR based on the transformed frames of data for each three-dimensional point; and performing a maneuver with the land vehicle by applying the generated two-dimensional map.

公开(公告)号：US20230204764A1

公开(公告)日：2023-06-29

申请号：US18112607

申请日：2023-02-22

Applicant: GM Cruise Holdings LLC

Inventor： Devin Cass ,  Jack Stepanian ,  Daniel Flores Tapia

IPC: G01S13/931 ,  G01S7/42

CPC classification number: G01S13/931 ,  G01S7/42 ,  G01S2013/93274 ,  G01S2013/93271 ,  G01S2013/932

Abstract: Methods and systems are provided for generating an on-demand distributed aperture by mechanical articulation. In some aspects, a process can include steps for determining a location of an autonomous vehicle, determining whether a maneuver requires long range detections or medium range detections based on the location of the autonomous vehicle, positioning at least two articulated radars based on the determining of whether the maneuver requires long range detections or medium range detections, and enabling a mode of resolution based on the positioning of the at least two articulated radars and by utilizing a static radar. Systems and machine-readable media are also provided.

公开(公告)号：US20230168366A1

公开(公告)日：2023-06-01

申请号：US17539843

申请日：2021-12-01

Applicant: GM CRUISE HOLDINGS LLC

Inventor： Daniel Flores Tapia ,  Anton Mario Bongio Karrman

IPC: G01S13/931 ,  G08G1/16

CPC classification number: G01S13/931 ,  G08G1/166 ,  G01S2013/932 ,  G01S2013/9322

Abstract: The present disclosure is directed to a plurality of different software models allowing a processor to perform calculations associated with different sets of criteria using data associated with variables that have a strong correlation with one or more of the different criteria sets. Methods consistent with the present disclosure may use several different sets of software that include instructions associated with the collection and evaluation of data associated with a vehicle and with an automated driving system. Different criteria sets may be associated with a range of operating modes, spectral content of received signals, phases of radar signals, and an angular coverage/field of view of the radar apparatus. Results generated by each of the software models may allow a processor to assign weights to the results generated by the different models to generate a combined result that in turn is used to update an operational mode of the radar apparatus.