公开(公告)号：US12111165B2

公开(公告)日：2024-10-08

申请号：US17966876

申请日：2022-10-16

Applicant: State Farm Mutual Automobile Insurance Company

Inventor： Blake S. Konrardy ,  Gregory L. Hayward ,  Scott Farris ,  Scott T. Christensen

IPC: G05D1/00 ,  B60L53/36 ,  B60L58/12 ,  B60P3/12 ,  B60R16/023 ,  B60R21/0136 ,  B60R21/34 ,  B60R25/04 ,  B60R25/10 ,  B60R25/102 ,  B60R25/104 ,  B60R25/25 ,  B60R25/30 ,  B60R25/31 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18 ,  B60W40/04 ,  B60W60/00 ,  G01B21/00 ,  G01C21/34 ,  G01C21/36 ,  G01S19/13 ,  G05B15/02 ,  G05B23/02 ,  G05D1/02 ,  G05D1/223 ,  G05D1/227 ,  G05D1/228 ,  G05D1/247 ,  G05D1/249 ,  G05D1/617 ,  G05D1/646 ,  G05D1/69 ,  G05D1/692 ,  G05D1/693 ,  G05D1/695 ,  G05D1/697 ,  G06F11/36 ,  G06F16/2455 ,  G06F16/903 ,  G06F17/00 ,  G06F21/32 ,  G06F21/55 ,  G06F30/15 ,  G06F30/20 ,  G06Q10/1093 ,  G06Q10/20 ,  G06Q30/0283 ,  G06Q30/0645 ,  G06Q40/08 ,  G06Q50/163 ,  G06Q50/26 ,  G06Q50/40 ,  G07C5/00 ,  G07C5/08 ,  G07C9/00 ,  G08B21/00 ,  G08B21/02 ,  G08B21/18 ,  G08B25/00 ,  G08B25/01 ,  G08G1/00 ,  G08G1/017 ,  G08G1/0965 ,  G08G1/0967 ,  G08G1/14 ,  G08G1/16 ,  G16Y10/80 ,  G16Y30/00 ,  H04L12/28 ,  H04L67/306 ,  H04N7/18 ,  B60R21/00 ,  B60R21/01 ,  G01S19/42 ,  G06N20/00 ,  H04L67/12

CPC classification number: G01C21/3461 ,  B60L53/36 ,  B60L58/12 ,  B60P3/12 ,  B60R16/0234 ,  B60R21/0136 ,  B60R21/34 ,  B60R25/04 ,  B60R25/10 ,  B60R25/1001 ,  B60R25/102 ,  B60R25/104 ,  B60R25/252 ,  B60R25/255 ,  B60R25/305 ,  B60R25/31 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/0956 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18163 ,  B60W40/04 ,  B60W60/0023 ,  B60W60/0053 ,  B60W60/0059 ,  G01B21/00 ,  G01C21/34 ,  G01C21/3415 ,  G01C21/343 ,  G01C21/3438 ,  G01C21/3453 ,  G01C21/3469 ,  G01C21/3617 ,  G01C21/362 ,  G01C21/3697 ,  G01S19/13 ,  G05B15/02 ,  G05B23/0245 ,  G05D1/0011 ,  G05D1/0055 ,  G05D1/0212 ,  G05D1/0231 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0285 ,  G05D1/0287 ,  G05D1/0289 ,  G05D1/0293 ,  G05D1/0295 ,  G05D1/223 ,  G05D1/227 ,  G05D1/228 ,  G05D1/247 ,  G05D1/249 ,  G05D1/617 ,  G05D1/646 ,  G05D1/69 ,  G05D1/692 ,  G05D1/693 ,  G05D1/695 ,  G05D1/697 ,  G06F11/3688 ,  G06F11/3692 ,  G06F16/2455 ,  G06F16/90335 ,  G06F17/00 ,  G06F21/32 ,  G06F21/55 ,  G06F30/15 ,  G06F30/20 ,  G06Q10/1095 ,  G06Q10/20 ,  G06Q30/0284 ,  G06Q30/0645 ,  G06Q40/08 ,  G06Q50/163 ,  G06Q50/265 ,  G06Q50/40 ,  G07C5/006 ,  G07C5/008 ,  G07C5/0808 ,  G07C5/0816 ,  G07C5/0841 ,  G07C9/00563 ,  G08B21/00 ,  G08B21/02 ,  G08B21/18 ,  G08B25/00 ,  G08B25/014 ,  G08G1/017 ,  G08G1/0965 ,  G08G1/096725 ,  G08G1/146 ,  G08G1/148 ,  G08G1/161 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167 ,  G08G1/20 ,  G16Y10/80 ,  G16Y30/00 ,  H04L12/2803 ,  H04L12/2816 ,  H04L12/2825 ,  H04L67/306 ,  H04N7/183 ,  B60R2021/0027 ,  B60R2021/01013 ,  B60R2025/1013 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2530/209 ,  B60W2540/229 ,  B60W2552/05 ,  B60W2552/35 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/4041 ,  B60W2554/406 ,  B60W2556/10 ,  G01S19/42 ,  G06F2221/034 ,  G06N20/00 ,  H04L67/12

Abstract: Methods and systems autonomously parking and retrieving vehicles are disclosed. Available parking spaces or parking facilities may be identified, and the vehicle may be navigated to an available space from a drop-off location without passengers. Special-purpose sensors, GPS data, or wireless signal triangulation may be used to identify vehicles and available parking spots. Upon a user request or a prediction of upcoming user demand, the vehicle may be retrieved autonomously from a parking space. Other vehicles may be autonomously moved to facilitate parking or retrieval.

公开(公告)号：US12105522B2

公开(公告)日：2024-10-01

申请号：US17569949

申请日：2022-01-06

Applicant: Institute of Intelligent Manufacturing, GDAS

Inventor： Xuefeng Zhou ,  Zerong Su ,  Zhihao Xu ,  Guanrong Tang

IPC: G05D1/00

CPC classification number: G05D1/0278 ,  G05D1/0212 ,  G05D1/0255

Abstract: The present application relates to a multi-sensor-fusion-based autonomous mobile robot indoor and outdoor navigation method and a robot. The method includes: acquiring inertial measurement data and three-dimensional point cloud data of a robot at a current position; determining a pose change of the robot based on the inertial measurement data of the robot at the current position; performing distortion correction on the three-dimensional point cloud data of the robot at the current position based on the pose change of the robot; and matching the three-dimensional point cloud data after the distortion correction with a navigation map, to determine the current position of the robot. With the method, the robot can be accurately positioned.

公开(公告)号：US12096708B2

公开(公告)日：2024-09-24

申请号：US17316159

申请日：2021-05-10

Applicant: Deere & Company

Inventor： Mandar M. Kale ,  Rahul Gunda ,  Kapil Patil

IPC: A01B69/04 ,  G05D1/00

CPC classification number: A01B69/008 ,  G05D1/0038 ,  G05D1/0255 ,  G05D1/027

Abstract: An automatic guidance system is adapted to be mounted on a work vehicle such as a farm tractor for assisting an operator steer the vehicle on a desired track relative to a furrow. The system includes sensors for transmitting and receiving ultrasonic ranging signals. The sensors are ultrasound transducers mountable on ends of a planter drawn by the vehicle for directing ranging signals downwardly toward field adjacent of a furrow such that the ranging signals strike the field or furrow and are reflected back into the respective sensor. Guidance logic stored in a memory of a controller is executed by a processor to determine tractor headway direction and headland turning directions representative of desired tractor headway and headland turning directions, and a human interface device generates guidance images viewable by an operator for steering the tractor relative to furrows in the field and in the headland.

公开(公告)号：US12019453B2

公开(公告)日：2024-06-25

申请号：US17569975

申请日：2022-01-06

Applicant: Institute of Intelligent Manufacturing, GDAS

Inventor： Zerong Su ,  Xuefeng Zhou

IPC: G05D1/00

CPC classification number: G05D1/0274 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0278

Abstract: The present application relates to a multi-sensor-fusion-based autonomous mobile robot indoor and outdoor positioning method and a robot. The method includes: acquiring GPS information and three-dimensional point cloud data of a robot at a current position; acquiring, a two-dimensional map corresponding to the GPS information of the robot at the current position; projecting the three-dimensional point cloud data of the robot at the current position onto a road surface where the robot is currently moving, to obtain two-dimensional point cloud data of the robot at the current position; and matching the two-dimensional point cloud data of the robot at the current position with the two-dimensional map corresponding to the GPS information of the robot at the current position, to determine the current position of the robot.

公开(公告)号：US12001217B1

公开(公告)日：2024-06-04

申请号：US17717290

申请日：2022-04-11

Applicant: Waymo LLC

Inventor： David I. Ferguson ,  Jiajun Zhu

IPC: G05D1/00 ,  B60K31/00 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/02 ,  B60W50/029 ,  G01C21/28 ,  G01S7/40 ,  G01S7/497 ,  G01S7/52 ,  G01S13/58 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/87

CPC classification number: G05D1/024 ,  B60K31/0008 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/0205 ,  B60W50/029 ,  G01C21/28 ,  G01S7/4004 ,  G01S7/497 ,  G01S7/4972 ,  G01S7/52004 ,  G01S13/58 ,  G01S13/931 ,  G01S17/66 ,  G01S17/86 ,  G01S17/87 ,  G05D1/00 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  B60W2050/0215 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2554/00 ,  B60W2554/801 ,  B60W2720/10 ,  B60W2720/24 ,  G01S7/4039 ,  G01S2007/4975

Abstract: Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.

公开(公告)号：US11989023B2

公开(公告)日：2024-05-21

申请号：US17072117

申请日：2020-10-16

Applicant: StreetScooter GmbH

Inventor： Marco Bellof ,  Bugra Turan ,  Sebastian Müller

IPC: G05D1/00 ,  G01C21/00 ,  G01C21/20

CPC classification number: G05D1/0212 ,  G01C21/206 ,  G01C21/3811 ,  G05D1/0088 ,  G05D1/0231 ,  G05D1/0255

Abstract: The invention relates to a method for navigating an industrial truck in a predetermined area with the following method steps:



providing a map of the predetermined area with at least one permanent landmark,
entering a temporary landmark in the map, when the temporary landmark is created,
deleting the temporary landmark from the map when the temporary landmark is removed, and
navigating the industrial truck in the predetermined area on the basis of the map having the permanent landmark and the temporary landmark.




In this way, the navigating of a preferably autonomously or partly autonomously driving industrial truck in a predetermined area, such as at a depot, is improved and in particular is made safer and more reliable.

公开(公告)号：US11940789B2

公开(公告)日：2024-03-26

申请号：US17363460

申请日：2021-06-30

Applicant: EQUIPMENTSHARE.COM INC

Inventor： William J. Schlacks, IV ,  Brian Adams ,  James Dianics ,  Ian Graves ,  Rob Martin ,  Scott Pfursich

IPC: G05D1/00

CPC classification number: G05D1/0044 ,  G05D1/0027 ,  G05D1/0055 ,  G05D1/0238 ,  G05D1/0255 ,  G05D1/0278

Abstract: A system for autonomous or semi-autonomous operation of a vehicle is disclosed. The system includes a machine automation portal (MAP) application configured to enable a computing device to (a) display a map of a work site and (b) provide a graphical user interface that enables a user to (i) define a boundary of an autonomous operating zone on the map and (ii) define a boundary of one or more exclusion zones. The system also includes a robotics processing unit configured to (a) receive the boundary of the autonomous operating zone and the boundary of each exclusion zone from the computing device, (b) generate a planned command path that the vehicle will travel to perform a task within the autonomous operating zone while avoiding each exclusion zone, and (c) control operation of the vehicle so that the vehicle travels the planned command path to perform the task.

公开(公告)号：US20240092409A1

公开(公告)日：2024-03-21

申请号：US18385038

申请日：2023-10-30

Applicant: GlüxKind Technologies Inc.

Inventor： Anne Hunger ,  Zi Wen Huang ,  Check Hay Janson Chan ,  Anderson Jia Lin Kwan

IPC: B62B5/00 ,  B62B9/08 ,  B62B9/20 ,  G05D1/02

CPC classification number: B62B5/0069 ,  B62B9/08 ,  B62B9/20 ,  G05D1/0214 ,  G05D1/0255

Abstract: In an aspect, a carriage for guided autonomous locomotion may include a computing device configured to produce a safety perimeter, wherein producing further comprises receiving at least an environmental input as a function of an environmental sensor, and producing the safety perimeter as a function of the environmental input, outline at least a corrective action as a function of the safety perimeter, wherein outlining further comprises determining a required force, and outlining the at least a corrective action as a function of the safety perimeter and required force using a corrective machine-learning model, and initiate the at least a corrective action.

公开(公告)号：US11935308B2

公开(公告)日：2024-03-19

申请号：US16985651

申请日：2020-08-05

Applicant: HONDA MOTOR CO., LTD.

Inventor： Go Nakamoto ,  Yoshiyuki Kuroba ,  Hiroshi Maeda ,  Masashi Hagimoto

IPC: G06V20/58 ,  G01S7/41 ,  G01S7/539 ,  G01S13/931 ,  G01S15/931 ,  G05D1/00 ,  G06T7/70

CPC classification number: G06V20/584 ,  G06T7/70 ,  G01S7/411 ,  G01S7/539 ,  G01S13/931 ,  G01S15/931 ,  G05D1/0231 ,  G05D1/0255 ,  G05D1/0257 ,  G06T2207/30252

Abstract: An object recognition apparatus mounted in a vehicle including a sensor is provided. The apparatus includes a detection unit configured to detect an object present in a same lane as that of the vehicle by using information from the sensor, an acquisition unit configured to acquire information concerning lights which the object turns on by using the information from the sensor, and a determining unit configured to determine a type of the object based on the information concerning the lights. A condition in which the determination unit determines that the type of the object is a two-wheeled vehicle includes a case in which the object includes not less than two lights arrayed in a vertical direction with respect to the ground surface.

公开(公告)号：US11934197B2

公开(公告)日：2024-03-19

申请号：US16628909

申请日：2018-06-04

Applicant: Robert Bosch GmbH

Inventor： Ali Alawieh ,  Carsten Hasberg ,  Danny Hiendriana ,  Fabian Dominik Reister ,  Jan-Hendrik Pauls ,  Muhammad Sheraz Khan ,  Philipp Rasp ,  Valentin Frommherz

IPC: G05D1/02 ,  G01C21/00 ,  G05D1/00 ,  G08G1/01

CPC classification number: G05D1/0274 ,  G01C21/3844 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0278 ,  G08G1/0112 ,  G08G1/0116 ,  G08G1/0129 ,  G05D2201/0213

Abstract: A method for operating a higher-level automated vehicle (HAV), in particular a highly automated vehicle, is provided, including: S1 for providing a digital map, which may be a highly accurate digital map, in a driver assistance system of the HAV; S2 for determining an instantaneous vehicle position and localizing the vehicle position in the digital map; S3 for providing an expected setpoint traffic density at the vehicle position; S4 for ascertaining an instantaneous actual traffic density in the surroundings of the HAV; S5 for comparing the actual traffic density to the setpoint traffic density and ascertaining a difference value as the result of the comparison; S6 for checking the vehicle position of the HAV for plausibility at least partially based on the difference value and/or S7 for updating the digital map at least partially based on the difference value. Also described are a corresponding driver assistance system and a computer program.