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11. 发明授权

US10074279B1 Inference-aware motion planning 有权
公开(公告)号：US10074279B1
公开(公告)日：2018-09-11
申请号：US15451957
申请日：2017-03-07
申请人： Denso International America, Inc. , DENSO CORPORATION
发明人： Yunfei Xu , Takashi Bando
IPC分类号： G08G1/00 , G08G1/16 , B60W10/20 , B60W10/18 , B60W30/095 , B60W10/04 , B60W40/12 , B60W40/04 , G05D1/00 , G05D1/02
摘要： 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.

12. 发明授权

US09933781B1 Data-driven planning for automated driving 有权
公开(公告)号：US09933781B1
公开(公告)日：2018-04-03
申请号：US15359651
申请日：2016-11-23
申请人： Denso International America, Inc. , DENSO CORPORATION , RobotWits LLC
发明人： Takashi Bando , Yunfei Xu , Maxim Likhachev , Ellis Marshal Ratner
IPC分类号： G05D1/02 , G01C21/36 , B60W10/20 , B60W10/18 , B60W40/10 , G05D1/00
CPC分类号： B60W40/10 , B60W10/18 , B60W10/20 , B60W2710/18 , B60W2710/20 , G01C21/3407 , G05D1/0214 , G05D1/0246 , G08G1/0112 , G08G1/0116 , G08G1/0145 , G08G1/164 , G08G1/166
摘要： A system and method are provided and include a subject vehicle having vehicle actuation systems. A driving context database stores driving trends associated with driving locations. A state estimation module determines a current location of the subject vehicle. A global route planner module determines a route to an inputted destination. An action primitive planning module retrieves a driving trend associated with the current location, selects a sequence of action primitives based on the driving trend associated with the current location and based on the determined route, and generates waypoints for the subject vehicle to travel to based on the sequence of action primitives, each waypoint including location coordinates and a direction. A trajectory planner module determines a trajectory for the subject vehicle based on the waypoints. A vehicle control module controls the vehicle actuation systems based on the determined trajectory.

13. 发明申请

US20170103121A1 DRIVE SUPPORT APPARATUS 审中-公开
公开(公告)号：US20170103121A1
公开(公告)日：2017-04-13
申请号：US15285235
申请日：2016-10-04
申请人： DENSO CORPORATION
发明人： Masataka Mori , Kazuhito Takenaka , Takashi Bando
IPC分类号： G06F17/30 , G09B9/042
CPC分类号： G06F16/287 , A61B5/18 , A61B5/7264 , G06F16/2246 , G06F16/282 , G09B9/042 , G09B9/052
摘要： A drive support apparatus includes a data collection part that collects driving behavior data of drivers, a classification part that performs clustering of the driving behavior data to form small clusters, an integration part that integrates, in accordance with contents of predetermined drive supports, the small clusters to thereby form support clusters each showing tendency of driving behavior of the drivers for each kind of the drive supports, an object data acquisition part that acquires, as object data, the driving behavior data regarding a support object driver to be supported, an estimation part that estimates, as a belonging cluster, one of the support clusters to which the support object driver belongs for each kind of the drive supports by comparing the object data with the support cluster information accumulated by the integration part.

14. 发明申请

US20170102708A1 DRIVE ASSIST APPARATUS 审中-公开
公开(公告)号：US20170102708A1
公开(公告)日：2017-04-13
申请号：US15284986
申请日：2016-10-04
申请人： DENSO CORPORATION
发明人： Takashi Bando , Masataka Mori , Kazuhito Takenaka
IPC分类号： G05D1/02 , G06N99/00 , G06N7/00 , G05D1/00
CPC分类号： G05D1/0221 , B60W40/00 , G05D1/0088 , G06N7/005 , G06N99/005
摘要： A drive assist apparatus includes a data collection part that collects driving behavior data representing driving maneuvers and vehicle behaviors caused by the driving maneuvers for each drivers, a classification part that classifies the driving behavior data into a plurality of clusters each showing a tendency of driving behavior of the drivers by clustering the driving behavior data, a storage part that stores cluster information representing a driving behavior characteristic of each of the clusters, a subject data acquisition part that acquires, as subject data, the driving behavior data for a subject driver to be assisted, an estimation part that estimates, as a corresponding cluster, one of the clusters to which the subject driver is assumed to belong by comparing the subject data with the cluster information stored in the storage part, and an assist providing part that provides a drive assist depending on the estimated corresponding cluster.

15. 发明授权

US09367735B2 Object identification device 有权
标题翻译：物体识别装置
公开(公告)号：US09367735B2
公开(公告)日：2016-06-14
申请号：US14271543
申请日：2014-05-07
申请人： DENSO CORPORATION
发明人： Kazuhito Takenaka , Takashi Bando , Hossein Tehrani Niknejad , Masumi Egawa
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/00369 , G06K9/00805 , G06K9/629
摘要： 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.
摘要翻译：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。

16. 发明授权

US09350952B2 Drive video recording device and method, drive video recording system, and summarized moving image creating device 有权
标题翻译：驱动视频录像设备和方法，驱动视频录像系统，并总结运动图像创建设备
公开(公告)号：US09350952B2
公开(公告)日：2016-05-24
申请号：US13948235
申请日：2013-07-23
申请人： DENSO CORPORATION
发明人： Kazuhito Takenaka , Takashi Bando , Takayuki Miyahara
IPC分类号： H04N5/917 , H04N9/80 , H04N7/18 , G07C5/08 , G11B27/034 , G11B27/28
CPC分类号： H04N7/18 , G07C5/0866 , G11B27/034 , G11B27/28
摘要： 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.
摘要翻译：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。

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