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1. 发明申请

WO2023287918A1 SYSTEM AND METHOD IN LANE DEPARTURE WARNING WITH FULL NONLINEAR KINEMATICS AND CURVATURE 审中-公开
公开(公告)号：WO2023287918A1
公开(公告)日：2023-01-19
申请号：PCT/US2022/037015
申请日：2022-07-13
申请人： CANOO TECHNOLOGIES INC.
发明人： KIM, Kilsoo , CHOI, Jongmoo , CAO, Lei , SATTIRAJU, Mayukh , UPPALAPATI, Dheemanth , SINGH, Aviral
IPC分类号： G06V20/58 , B60W10/20 , B60W30/09 , B60W30/12 , B60W50/14
摘要： An apparatus includes at least one camera (216, 217, 218) configured to capture an image of a traffic lane (400) in front of a vehicle (100). The apparatus also includes a vehicle behavior prediction controller 300 configured to determine lane boundaries (401, 403) and road curvature K for a segment of a traffic lane occupied by the vehicle from the captured image and prior captured images; determine lateral distances dL, dR of the vehicle from the lane boundaries and a rate of departure Vdepart of the vehicle from the occupied traffic lane that is accurate for the determined road curvature; determine a time to line crossing TTLC for the vehicle from the lateral distances and the rate of departure; and activate a lane departure warning indicator based on the determined time to line crossing.

2. 发明申请

WO2022235666A1 SERVER, SYSTEMS AND METHODS FOR AUTOMATING SAFETY ACTIONS USING MONITORED PARAMETERS 审中-公开
公开(公告)号：WO2022235666A1
公开(公告)日：2022-11-10
申请号：PCT/US2022/027468
申请日：2022-05-03
申请人： MINDSET MEDICAL, INC.
发明人： MULGREW, Derek Michael , FOSTER, Mitchell Andrew , CRAWFORD, Neil Robert
IPC分类号： B60W60/00 , B60W30/08 , B60W40/08 , B60W50/04 , B60W10/20 , B60W50/16
摘要： Systems and methods described herein are directed toward executing an intervention based on monitored physiological and/or environmental parameters according to some embodiments. In some embodiments, the system is configured to execute the intervention if one or more parameters are outside a pre-determined threshold. In some embodiments, an intervention can include and audible message. In some embodiments, the intervention can include taking control of a vehicle. In some embodiments, if there is no response from a user, the system will automatically contact a first responder and/or will automatically route the vehicle to an emergency facility. In some embodiments, the system includes one or more wearable monitoring devices that send signals to the system about physiological and/or environmental parameters. In some embodiments, the system uses artificial intelligence to determine if an abnormal condition exists.

3. 发明申请

WO2022229704A2 MULTI-FRAME IMAGE SEGMENTATION 审中-公开
公开(公告)号：WO2022229704A2
公开(公告)日：2022-11-03
申请号：PCT/IB2022/000239
申请日：2022-04-28
申请人： MOBILEYE VISION TECHNOLOGIES LTD. , BAR ZVI, Asaf , ZABARI, Nir
发明人： BAR ZVI, Asaf , ZABARI, Nir
IPC分类号： G06V20/56 , B60W10/04 , B60W10/18 , B60W10/20 , B60W2420/42 , B60W2554/4029 , B60W2555/60 , B60W2710/18 , B60W2710/20 , B60W2720/106 , B60W60/001 , G06V10/751 , G06V10/762 , G06V10/82 , G06V20/58
摘要： Systems and methods for identifying objects in an environment of a host vehicle are disclosed. In one implementation, a system includes a processor configured to receive images representative of the environment of the host vehicle; assign first pixel descriptor values to a plurality of pixels associated with a first image and second pixel descriptor values to a plurality of pixels associated with a second image; identify object representations in the first image and the second image based on at the first pixel descriptor values and the second pixel descriptor values, respectively; determine a first object descriptor and a second object descriptor based on the first pixel descriptor values and the second pixel descriptor values, respectively; and based on a comparison of the first object descriptor and the second object descriptor, output an indication that the object representations in the first image and the second image represent a common object.

4. 发明申请

WO2022216885A1 A SYSTEMATIC APPROACH TOWARDS SYSTEM IDENTIFICATION BASED YAW RATE ESTIMATION WITH LOW-COST IMU+GPS UNITS 审中-公开
公开(公告)号：WO2022216885A1
公开(公告)日：2022-10-13
申请号：PCT/US2022/023747
申请日：2022-04-06
申请人： RIDECELL, INC.
发明人： SHAH, Nirav, Atul , KUMBAR, Kshitij , TURKOGLU, Kamran
IPC分类号： B60W10/20 , B60W30/10 , B60W40/00 , B60W40/10 , B60W40/114 , B60W50/04 , B60W50/06 , B60W60/00
摘要： Systems and methods for estimating values of dynamic attributes of autonomous vehicles are disclosed. A first vehicle includes an inertial measurement unit (IMU) configured to measure a dynamic attribute (e.g., rate of change of vehicle yaw angle) and correlate the measured attribute with one or more input variables (e.g., values of steering angle commands). The correlated data is used to generate a model that can be used in a second vehicle to predict a dynamic attribute based at least in part on variable values input from the second vehicle. As a result, it is not necessary for the second vehicle to have an IMU.

5. 发明申请

WO2022183808A1 一种智能交通环境下的线控底盘信息物理系统及控制方法审中-公开
公开(公告)号：WO2022183808A1
公开(公告)日：2022-09-09
申请号：PCT/CN2021/138518
申请日：2021-12-15
申请人：南京航空航天大学
发明人：赵万忠 , 周小川 , 王春燕 , 栾众楷 , 张自宇 , 钟怡欣 , 章波
IPC分类号： B60W40/00 , B60W40/10 , B60W10/08 , B60W10/18 , B60W10/20 , B60W50/00
摘要：一种智能交通环境下的线控底盘信息物理系统及控制方法，该系统包括：SoS级CPS、系统级CPS和单元级CPS；多个单元级CPS与一个系统级CPS之间实现数据传输，多个系统级CPS与一个SOS级CPS之间实现数据传输；该系统将轮毂电机与悬架进行集成，取消发动机、离合器等传统结构，简化了底盘的结构，电机直接驱动车辆运转，并通过四个轮毂电机对不同车轮施加不同驱动、制动或转矩满足车轮的独立控制，提高了主动安全性和操作稳定性。

6. 发明申请

WO2022183021A1 CONTROLLING THE LATERAL MOVEMENT OF THE AUTONOMOUS VEHICLES WITH A NON-LINEAR STEERING SYSTEM 审中-公开
公开(公告)号：WO2022183021A1
公开(公告)日：2022-09-01
申请号：PCT/US2022/017948
申请日：2022-02-25
申请人： THORDRIVE, INC.
发明人： LEE, Kyoochul , RAZIEI, Seyed, Ataollah
IPC分类号： B60W10/20 , B62D6/00 , B62D15/02
摘要： The present invention relates to a steering control system and method for a vehicle, and more particularly a control system and method for accurately controlling the lateral movement of an autonomous vehicle that has a non-linear steering system, e.g., a hydraulic steering system, which includes measuring wheel angles of the vehicle, calculating the actuation value for the desired wheel angle based on the measured wheel angle, and rotating the steering wheel according to the actuation value; wherein the actuation values are calculated based on a function f() representing the nonlinear behavior of the steering ratio depending on the position and movement direction of the steering wheel, and another function g() representing a response lag when the steering direction is changed.

7. 发明申请

WO2022146604A1 ARCHITECTURE FOR VARIABLE MOTION CONTROL ENVELOPE 审中-公开
公开(公告)号：WO2022146604A1
公开(公告)日：2022-07-07
申请号：PCT/US2021/061153
申请日：2021-11-30
申请人： WAYMO LLC
发明人： BARTON-SWEENEY, Andrew , HINDIYEH, Rami , GREENE, Peter , BUTAKOV, Vadim , KATZOURAKIS, Diomidis
IPC分类号： B60W60/00 , B60W40/06 , B60W40/12 , B60W10/18 , B60W10/20 , B60W10/04 , B60W50/00
摘要： The technology employs a variable motion control envelope that enables an on-board computing system (200) of a self-driving vehicle (100) to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties (610-616), extrinsic environmental influences (608) and road friction information (604) are evaluated. Such factors can be evaluated (618-622) to derive an available acceleration model (624), which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits (720) that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module (323) of the processing system) to control driving operations of the vehicle in an autonomous driving mode (628).

8. 发明申请

WO2022139058A1 차량 제어 장치 审中-公开
公开(公告)号：WO2022139058A1
公开(公告)日：2022-06-30
申请号：PCT/KR2021/000448
申请日：2021-01-13
申请人： 주식회사 시로코
发明人： 김용환
IPC分类号： B60W60/00 , B60W40/08 , B60W50/10 , B60W40/06 , B60W10/20 , B60W50/16 , B60W40/04 , G05D1/00 , B60R21/0134
摘要： 차량 제어 장치가 개시된다. 본 발명의 차량 제어 장치는 지도 정보, 지도 내 도로 정보를 저장하는 저장부; 및 자율 주행 모드의 수행 시 영상 획득부를 통해 획득한 도로의 영상 정보, 거리 검출부를 통해 검출한 장애물과의 거리 정보, 위치 수신부에 수신된 현재 위치 정보, 지도 정보 및 도로 정보에 기초하여 자율 주행을 제어하고, 수동 주행 모드의 수행 중 브레이크 페달의 가압 정보, 엑셀러레이터 페달의 가압 정보 및 스티어링 휠의 조작에 대응하는 조향각 정보에 기초하여 운전자의 운전 성향을 인식하여 저장하도록 하는 제어부를 포함하고, 제어부는, 차량의 가속, 감속 및 조향에 대응하는 주행 정보를 확인하고, 저장된 운전자의 운전 성향 및 확인한 주행 정보에 기초하여 자율 주행 모드와 수동 주행 모드 간의 전환을 제어하고 주행 모드 간의 전환 정보의 출력을 제어한다. 본 발명은 운전자의 성향이나 상태를 인식하고 운전자의 운전 의지를 반영하여 운전자의 욕구를 충족시키면서 효과적으로 자율 주행을 수행할 수 있다는 장점이 있다.

9. 发明申请

WO2022133393A1 AUTONOMOUS VEHICLE STEERING JUKE EVENT DETECTOR 审中-公开
公开(公告)号：WO2022133393A1
公开(公告)日：2022-06-23
申请号：PCT/US2021/072763
申请日：2021-12-06
申请人： ARGO AI, LLC
发明人： ATMEH, Ghassan , VARNHAGEN, Scott Julian
IPC分类号： B60W10/20 , G08G1/16 , G05D1/02
摘要： Systems and methods for determining one or more juke events are provided. The method includes generating, for an initial trajectory cycle, an initial planned trajectory of an autonomous vehicle, using a motion planning module, and generating, for a subsequent trajectory cycle, a subsequent planned trajectory of the autonomous vehicle, using the motion planning module. Each of the initial planned trajectory and the subsequent planned trajectory includes a series of planned steering wheel angles over a period of time and a steering wheel angle rate of change over the period of time. The method further includes identifying one or more first juke event qualifiers and one or more second juke event qualifiers, and identifying one or more juke events, wherein each juke event correlates to a time interval at which a first juke event qualifier and a second juke event qualifier occur within a threshold length of time from each other.

10. 发明申请

WO2022080212A8 車両姿勢制御装置および車両审中-公开
公开(公告)号：WO2022080212A8
公开(公告)日：2022-04-21
申请号：PCT/JP2021/037011
申请日：2021-10-06
申请人：ＮＴＮ株式会社 , 学校法人幾徳学園
发明人：平田　淳一 , 山門　誠
IPC分类号： B60G17/015 , B60G17/016 , B60W40/10 , B60W40/11 , B60W40/112 , B60W40/114 , B60T8/1755 , B60W10/00 , B60W10/20 , B60W10/22 , B60W30/045
摘要：車両姿勢制御装置は、ロールモーメントを発生させるアクチュエータを有する車両に搭載され、ロールモーメント演算器（２４）とアクチュエータ制御手段（２５）とを備える。ロールモーメント演算器（２４）は、旋回中の車両（１）におけるロール運動がヨー運動に連動して発生するように、前記アクチュエータを制御するためのロールモーメント指令値を演算する。ロールモーメント演算器（２４）は、出力するロールモーメント指令値を、車両の横滑り角速度と車速に基づいて計算する。アクチュエータ制御手段（２５）は、演算されたロールモーメント指令値を用いて前記アクチュエータを制御する。

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