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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 18942. Отображено 100.
21-11-2013 дата публикации

DETECTING ROBOT STASIS

Номер: US20130310978A1
Автор: Gilbert, JR. Duane L., Ozick Daniel N.
Принадлежит: iRobot Corporation

A coverage robot includes a drive configured to maneuver the robot as directed by a controller, a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, and a suspension supporting the wheel. The stasis indication wheel defines a first reflective portion and a second reflective portion. The second reflective portion is substantially less reflective than the first reflective portion. The suspension permits movement of the wheel in a direction other than rotation about the first axis. A signal emitter is disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel. A signal receiver is positioned to receive the reflected signal by the rotating wheel. Communication between the emitter and the receiver is affected by rolling transitions between the first and second reflective portions during permitted movement of the wheel. 121-. (canceled)22. A coverage robot comprising:a body;a wheeled-drive that maneuvers the body over a surface according to drive commands from a controller in communication with the drive;a first stasis sensor carried on the body, and responsive to surface-relative movement of the body;a second stasis sensor carried separately on the body from the first stasis sensor, and responsive to surface-relative movement of the body, receive sensory output from each of the first and second stasis sensors; and', 'determine whether the body is moving relative to the surface as a function of the drive commands and sensory output from at least one of the first and second stasis sensors., 'wherein the controller is configured to23. The coverage robot of claim 22 , wherein the controller is further configured to transition from the first stasis sensor to the second stasis sensor as a primary sensor.24. The coverage robot of claim 23 , wherein the controller comprises a transition algorithm to cause a unitary transition from ...

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Номер записи: 1
21-11-2013 дата публикации

Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs)

Номер: US20130311030A1
Автор: John A.M. Petersen, Lance Beeny, Merin Swasey, Stott Barwick
Принадлежит: Boomerang Systems Inc

An automated guided vehicle (AGV) adapted to follow a guide wire or the like, the AGV comprising at least one antenna in communication with a master control system and having a programmable microprocessor that enables the AGV to dynamically assume a linear, angular or skewed offset position relative to the guide wire or the like in accordance with instructions provided by the control system.

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Номер записи: 2
05-12-2013 дата публикации

Method and System for Multi-Mode Coverage for an Autonomous Robot

Номер: US20130325178A1
Автор: Jones Joseph L., Mass Philip R.
Принадлежит: iRobot Corporation

A control system for a mobile robot () is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode () and a random bounce mode (). In other embodiments, spot coverage, such as spiraling (), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage. 12-. (canceled)3. A mobile coverage robot , comprising:a drive mechanism comprising drive wheels that both drives the robot forward across a surface in a drive direction and turns the robot to change the drive direction;a floor cleaner disposed on a lateral side of the robot;a proximity sensor aimed forward of the drive wheels in the drive direction, the proximity sensor responsive to an object proximate the lateral side of the robot;a tactile sensor responsive to a bump event between the robot and an object; and a cliff sensor aimed forward of the drive wheels in the drive direction and responsive to a presence of a cliff in the drive direction of the robot; and', 'a wheel drop sensor responsive to a wheel drop event; and, 'a plurality of floor level sensors, each floor level sensor responsive to a condition of an area below the robot, the floor level sensors comprising operate the robot to follow a sensed object on the lateral side of the robot;', 'operate the robot to travel in an altered direction in response to a bump event between the robot and the object;', 'operate the robot to avoid a cliff; and', "reduce the robot's velocity in response to a wheel drop event."], 'a drive controller in communication with the proximity sensor, the tactile sensor, and the plurality of floor level sensors, the drive controller configured to'}4. The mobile robot of claim 3 , wherein the proximity sensor is aimed at a finite volume of detection space at an expected object.5. The mobile robot of claim 3 , wherein the tactile sensor ...

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Номер записи: 3
03-01-2019 дата публикации

METHOD FOR AUTOMATING TRANSFER OF PLANTS WITHIN AN AGRICULTURAL FACILITY

Номер: US20190000019A1
Автор: Alexander Brandon Ace, Binney Jonathan
Принадлежит:

One variation of a method for automating transfer of plants within an agricultural facility includes: dispatching a loader to autonomously deliver a first module—defining a first array of plant slots at a first density and loaded with a first set of plants at a first growth stage—from a first grow location within an agricultural facility to a transfer station within the agricultural facility; dispatching the loader to autonomously deliver a second module—defining a second array of plant slots at a second density less than the first density and empty of plants—to the transfer station; recording a module-level optical scan of the first module; extracting a viability parameter of the first set of plants from features detected in the module-level optical scan; and if the viability parameter falls outside of a target viability range, rejecting transfer of the first set of plants from the first module. 1. A method for automating transfer of plants within an agricultural facility , the method comprising:dispatching a loader to autonomously deliver a first module from a first grow location within an agricultural facility to a transfer station within the agricultural facility, the first module defining a first array of plant slots at a first density and loaded with a first set of plants at a first growth stage;dispatching the loader to autonomously deliver a second module to the transfer station, the second module defining a second array of plant slots at a second density less than the first density and empty of plants;recording a module-level optical scan of the first module;extracting a viability parameter of the first set of plants from features detected in the module-level optical scan;in response to the viability parameter falling outside of a target viability range, rejecting transfer of the first set of plants from the first module; and triggering a robotic manipulator at the transfer station to sequentially transfer a first subset of the first set of plants from the ...

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Номер записи: 4
07-01-2021 дата публикации

APPARATUS AND METHODS FOR VEHICLE STEERING TO FOLLOW A CURVED PATH

Номер: US20210000004A1
Автор: Robinson William Daniel
Принадлежит:

Methods, apparatus, systems and articles of manufacture are disclosed for vehicle steering to follow a curved path, An example vehicle disclosed herein includes a front axle, a rear axle, a location sensor, and a tracking mode controller to determine a wheel steering angle based on a tum center location corresponding to a navigation curve and one or more measurements between the turn center location and the vehicle, determine a heading error offset adjustment based on the turn center location and the one or more measurements between the turn center location and the vehicle, and cause the vehicle to move along the navigation curve based on the wheel steering angle and the heading error offset adjustment. 1. An apparatus comprising determine a turn center location based on a radius of curvature for a curved navigation path for a vehicle to follow;', 'determine a distance between the turn center location and at least one of a front axle or a rear axle of the vehicle; and', 'determine a distance between a location sensor and a turn center location;, 'a navigation analyzer toa feedforward wheel angle determiner to determine a wheel steering angle based on (1) the distance between the turn center location and the at least one of the front axle or the rear axle and (2) a distance between the front axle and the rear axle;a heading error offset determiner to determine a heading error offset adjustment based on (1) the distance between the location sensor and the turn center location and (2) a distance between a location sensor and at least one of the front axle or the rear axlea steering controller to cause a vehicle to follow the curved navigation path based on the wheel steering angle and the heading error offset adjustment.2. The apparatus of claim 1 , wherein the vehicle is a rear wheel steer vehicle.3. The apparatus of claim 2 , wherein the location sensor is positioned further toward a front end of the vehicle than the front axle.4. The apparatus of claim 3 , wherein ...

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Номер записи: 5
07-01-2021 дата публикации

Methods and apparatus to control vehicle steering

Номер: US20210000005A1
Автор: William Daniel Robinson
Принадлежит: Deere and Co

Methods, apparatus, systems and articles of manufacture are disclosed that control vehicle steering. An example apparatus includes: a path acquisition interface configured to obtain, via a user interface a sampling interval; and a controller configured to, during acquisition mode: determine a steering angle of a wheel of the vehicle based on a trigonometric function including a distance associated with a turn radius of the front wheel; and cause, utilizing the steering angle, a global navigation satellite system (GNSS) receiver to travel from a first position to a second position, the GNSS receiver located at the first position at a first sampling time and the second position at a second sampling time, the first sampling time and the second sampling time differing by the sampling interval.

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Номер записи: 6
03-01-2019 дата публикации

Mobile Object Avoiding Mobile Platform

Номер: US20190000041A1
Автор: Cohen David, Friedman Michael, Jun David
Принадлежит: Petronics Inc.

A mobile device comprises a platform, a motion drive, and a spatial profiling device. The motion drive is configured to propel the platform according to navigation instructions. The spatial profiling device is configured to capture a spatial profile of a motion area. A spatial profile is received from the spatial profiling device. A mobile object is located employing the spatial profile. A movement is planned for the mobile device between a first location and a second location in the motion area. The movement is configured to avoid the mobile object. The movement is communicated as navigation instructions to the motion drive. 1. A mobile device , comprising:a platform;a motion drive configured to propel the platform according to navigation instructions;a spatial profiling device configured to capture a spatial profile of a motion area;one or more processors; and receive a spatial profile from the spatial profiling device;', 'locate a mobile object employing the spatial profile;', 'locate the mobile device;', 'plan a movement for the mobile device between a first location and a second location in the motion area, the movement configured to avoid the mobile object; and', 'communicate the movement as navigation instructions to the motion drive., 'memory storing processing instructions that, when executed, cause the mobile device to2. The mobile device according to claim 1 , further comprising an inertial measurement device.3. The mobile device according to claim 2 , wherein the processing instructions claim 2 , when executed claim 2 , further cause the mobile device to determine claim 2 , employing the inertial measurement device claim 2 , the orientation of mobile device.4. The mobile device according to claim 1 , wherein the motion drive is configured to propel the platform in a flipped orientation.5. The mobile device according to claim 1 , further comprising a tail.6. The mobile device according to claim 1 , further comprising a stability nub.7. The mobile device ...

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Номер записи: 7
02-01-2020 дата публикации

METHOD FOR AUTONOMOUSLY WEEDING CROPS IN AN AGRICULTURAL FIELD

Номер: US20200000081A1
Автор: Boyer Sébastien, Flajolet Arthur, Palomares Thomas, Stahl-David Eric
Принадлежит:

A method for weeding crops includes, at an autonomous machine: recording an image at the front of the autonomous machine; detecting a target plant and calculating an opening location for the target plant longitudinally offset and laterally aligned with the location of the first target plant; driving a weeding module to laterally align with the opening location; tracking the opening location relative to a longitudinal reference position of the weeding module; when the weeding module longitudinally aligns with the first opening location, actuating the blades of the first weeding module to an open position; recording an image proximal to the weeding module; and in response to detecting the blades of the weeding module in the open position: calculating an offset between the opening location and a reference position of the weeding module, based on the image; and updating successive opening locations calculated by the autonomous machine based on the offset. 1. A method for performing an agricultural operation in an agricultural field comprises , at an autonomous machine navigating along crop rows in the agricultural field:recording a first image of a ground area below the autonomous machine;detecting a location of a first target plant based on the first image;driving a first tool module to laterally align a reference position of the first tool module with the location of the first target plant, the first tool module arranged in a tool housing of the autonomous machine;tracking the location of the first target plant relative to the reference position of the first tool module;in response to the reference position of the first tool module longitudinally aligning with the location of the first target plant, actuating the first tool module to perform the agricultural operation;recording a second image of a ground area below the autonomous machine; andin response to detecting a performance of the agricultural operation in the second image, calculating an offset between the ...

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Номер записи: 8
02-01-2020 дата публикации

SMART LUGGAGE SYSTEM

Номер: US20200000193A1
Автор: CHENG Fangning, QI Ou, REN Guorong, Tang Xinyi
Принадлежит:

A smart luggage system includes a piece of luggage, a pull rod, at least one sensor, two driving wheels and two driven wheels. The luggage is configured to store items for transport. The pull rod is coupled to the luggage. The at least one sensor is coupled to the luggage and configured to detect a moving object. The two driving wheels and two driven wheels are coupled to the luggage, wherein the two driving wheels are motorized to move the luggage in a given direction. The pull rod and the at least one sensor are disposed on a front surface of the luggage. The two driven wheels are disposed near the front surface of the luggage and the two driving wheels are disposed near a rear surface of the luggage. The at least one sensor is configured to guide the luggage to follow the moving object. 1. A smart luggage system , comprising:a piece of luggage configured to store items for transport;a pull rod coupled to the luggage;at least one sensor coupled to the luggage and configured to detect a moving object; andtwo driving wheels and two driven wheels coupled to the luggage, wherein the two driving wheels are motorized to move the luggage in a given direction;wherein the pull rod and the at least one sensor are disposed on a front surface of the luggage;wherein the two driven wheels are disposed near the front surface of the luggage and the two driving wheels are disposed near a rear surface of the luggage;wherein the at least one sensor is configured to guide the luggage to follow the moving object.2. The smart luggage system of claim 1 , further comprising a USB port disposed on a top portion of the front surface of the luggage.3. The smart luggage system of claim 1 , wherein the at least one sensor is selected from at least one camera claim 1 , infrared sensor or ultrasonic sensor.4. The smart luggage system of claim 1 , further determining a route based on a map data claim 1 , a beginning location claim 1 , and a destination location.5. The smart luggage system of ...

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Номер записи: 9
04-01-2018 дата публикации

ROBOT CLEANER

Номер: US20180000300A1
Автор: JUNG Jae young, Kim Byung chan, LEE Byoung In, Lee Jun Hwa, YOON Sang Sik
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

A robot cleaner includes a body to travel on a floor; an obstacle sensing unit to sense an obstacle approaching the body; an auxiliary cleaning unit pivotably mounted to a bottom of the body, to be extendable and retractable; and a control unit to control extension or retraction of the auxiliary cleaning unit based on a pivot angle formed by the auxiliary cleaning unit with respect to a travel direction of the body when the obstacle is sensed. 1. A robot cleaner comprising:a body to travel on a floor;an obstacle sensing unit to sense an obstacle approaching the body;an auxiliary cleaning unit pivotably mounted to a bottom of the body, to be extendable and retractable; anda control unit to control extension or retraction of the auxiliary cleaning unit based on a pivot angle formed by the auxiliary cleaning unit with respect to a travel direction of the body when the obstacle is sensed.2. The robot cleaner according to claim 1 , wherein the controller determines a distance from a pivot shaft of the auxiliary cleaning unit to the obstacle claim 1 , and controls the pivot angle of the auxiliary cleaning unit according to the distance.3. The robot cleaner according to claim 2 , wherein the control unit controls the pivot angle of the auxiliary cleaning unit such that a distance between an outermost portion of the auxiliary cleaning unit and the obstacle is greater than a predetermined first critical value claim 2 , but smaller than a predetermined second critical value.4. The robot cleaner according to claim 1 , wherein the control unit compares an output signal from the obstacle sensing unit according to a sensing direction of the obstacle sensing unit with a predetermined critical value claim 1 , and controls the pivot angle of the auxiliary cleaning unit claim 1 , based on a result of the comparison.5. The robot cleaner according to claim 4 , wherein the predetermined critical value corresponds to a distance from the body to an outermost portion of the auxiliary ...

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Номер записи: 10
05-01-2017 дата публикации

USER EQUIPMENT, CLEANING ROBOT INCLUDING THE SAME, AND METHOD FOR CONTROLLING CLEANING ROBOT

Номер: US20170000307A1
Автор: Choi Min Yong, KIM Ji Min, KWAK No San, LEE So Hee, PARK Soon Yong, Roh Kyung Shik, YOON Suk June
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

Disclosed is a user equipment (UE), cleaning robot including the same, and method for controlling the cleaning robot, which is intended for a cleaning robot to move to a place where there is the user by the user transmitting a radio communication signal to the cleaning robot and the cleaning robot estimating a location from which the radio communication signal is transmitted based on attenuation ratios of signal intensities over distance. An embodiment of the cleaning robot includes a main body; a moving unit for moving the main body; a communication unit for performing wireless communication with a user equipment (UE); and a robot controller for determining a location of the UE based on intensity of a radio communication signal received by the communication unit, wherein the robot controller controls the moving unit to move the main body to the determined location of the UE once the location of the UE is determined. 1. A cleaning robot comprising:a main body;a moving unit to move the main body;a communication unit to perform wireless communication with a user equipment (UE); anda robot controller to determine a location of the UE based on intensity of a radio communication signal received by the communication unit,wherein the robot controller is configured to control the moving unit to move the main body to the determined location of the UE in response to the location of the UE being determined.2. The cleaning robot of claim 1 , wherein the communication unit comprises:at least one receiving module to receive a radio communication signal from the UE; anda transmitting module to transmit a radio communication signal to the UE.3. The cleaning robot of claim 2 , wherein the robot controller is further configured to:determine that a distance between the UE and the main body decreases when the intensity of the radio communication signal increases, anddetermine that a distance between the UE and the main body increases when the intensity of the radio communication signal ...

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Номер записи: 11
04-01-2018 дата публикации

Automatic Floor Cleaning Robot

Номер: US20180000306A1
Автор: Caruso Philip J
Принадлежит:

The present invention is a mobile robot with an attached cleaning element and capable of autonomously seeking areas with low overhead clearance. In the preferred embodiment is a mobile robot using an array of upward facing distance sensors in communication with a controller to detect the presence of obstructions or surfaces above the apparatus. The controller directs the movements of the mobile robot through the use of a drive system, using pattern recognition to avoid becoming stuck and using random movements to increase floor coverage. 1. (canceled)2. (canceled)3. (canceled)4. (canceled)5. (canceled)6. (canceled)7. (canceled)8. (canceled)9. A mobile robot configured to clean a space with a floor and ceiling , comprising:a drive system capable of moving said apparatus;at least one upward facing distance sensor in communication with a controller, said upward facing distance sensor configured to detect the distance of surfaces above said apparatus that are lower than said ceiling;a controller in communication with said drive system, said controller configured to autonomously move said apparatus to areas of said space where the height of surfaces above said apparatus are lower than said ceiling;a main body where said drive system, controller and upward facing distance sensor are fixed to the main body;a cleaning pad fixed to the bottom of said main body;wherein said cleaning pad is circular in shape in a first portion and conforming to the shape of the bottom of said main body in a second portion;wherein said cleaning pad further comprises cutouts that are triangular in shape extending radially from a point on the bottom edge of said main body to the outer edge of said cleaning pad;wherein said first portion of said cleaning pad is configured to trail behind said drive system when the apparatus moves in the forward direction;wherein said upward facing distance sensor is an ultrasonic sensor;wherein said upward facing distance sensor is further configured to detect ...

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Номер записи: 12
06-01-2022 дата публикации

MOBILE CARRIERS FOR USE IN SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING MOBILE MATRIX CARRIER SYSTEMS

Номер: US20220002079A1
Автор: AHEARN Kevin, ALLEN Thomas, AMEND, Cohen Benjamin, DAWSON-HAGGERTY Michael, FORT William Hartman, GEYER Christopher, JR. John Richard, KING Jennifer Eileen, KOLETSCHKA Thomas, KOVAL Michael Cap, MARONEY Kyle, MASON Matthew T, MCMAHAN William Chu-Hyon, PRICE Gene Temple, Romano Joseph, SMITH Daniel, SRINIVASA Siddhartha, VELAGAPUDI Prasanna, Wagner Thomas
Принадлежит:

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier. 135.-. (canceled)36. An automated carrier system for moving objects to be processed , said automated carrier system comprising:a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load; anda plurality of wheel assemblies, each wheel assembly including a wheel coupled to a pivot assembly, each pivot assembly providing pivoting of an associated wheel between the carrier width direction and the carrier length direction, wherein the associated wheel is pivoted away from a center of the carrier width and the carrier length.37. The automated carrier system as claimed in claim 36 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.38. The automated carrier system as claimed in claim 37 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers claim 37 , one on either side of the wheel.39. The automated carrier system as claimed in claim 36 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel claim 36 , wherein the motor pivots with the associated wheel assembly.40. The automated carrier system as claimed in claim 36 , wherein at least a portion of each wheel of each of the wheel assemblies extends beyond both the carrier width and the carrier length when pivoted between the carrier width direction and the carrier length direction.41. The automated carrier ...

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Номер записи: 13
06-01-2022 дата публикации

MOBILE CARRIERS FOR USE IN SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING MOBILE MATRIX CARRIER SYSTEMS

Номер: US20220002080A1
Автор: AHEARN Kevin, ALLEN Thomas, AMEND, Cohen Benjamin, DAWSON-HAGGERTY Michael, FORT William Hartman, GEYER Christopher, JR. John Richard, KING Jennifer Eileen, KOLETSCHKA Thomas, KOVAL Michael Cap, MARONEY Kyle, MASON Matthew T, MCMAHAN William Chu-Hyon, PRICE Gene Temple, Romano Joseph, SMITH Daniel, SRINIVASA Siddhartha, VELAGAPUDI Prasanna, Wagner Thomas
Принадлежит:

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier. 122.-. (canceled)23. A method of moving objects to be processed , said method comprising providing a base structure of a carrier on which an object may be supported;providing at least two wheels mounted to at least two motors to provide at least two wheel assemblies; and pivoting each of said wheel assemblies, from a first position to a second position to effect a change in direction of movement of the carrier from a first direction to a second direction that is generally orthogonal to the first direction.24. The method as claimed in claim 23 , wherein said method further includes providing tracks along which the carrier may be moved.25. The method as claimed in claim 24 , wherein said tracks include intermittent tracks that are not mutually connected.26. The method as claimed in claim 25 , wherein said tracks are generally in the shape of a square.27. The method as claimed in claim 25 , wherein said method further includes detecting identifiable indicia associated with an intermittent track section by the carrier.28. The method as claimed in claim 23 , wherein said carrier includes guide rollers for engaging the tracks.29. The method as claimed in claim 23 , wherein said carrier includes a conveyor that may be engaged to move a load in one of two directions off of the carrier.30. The method as claimed in claim 23 , wherein said carrier includes a tilt portion that may be engaged to dump a load off of the carrier.31. The method as claimed in claim 23 , wherein said carrier includes at ...

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Номер записи: 14
06-01-2022 дата публикации

CONSTRUCTION MACHINE AND SUPPORT SYSTEM

Номер: US20220002978A1
Автор: KUROSAWA Ryota
Принадлежит:

A construction machine includes processing circuitry and a transmitter. The processing circuitry is configured to obtain information on a work area in an area surrounding the construction machine. The transmitter is configured to transmit the information obtained by the processing circuitry to another construction machine in the area surrounding the construction machine. 1. A construction machine comprising:processing circuitry configured to obtain information on a work area in an area surrounding the construction machine; anda transmitter configured to transmit the information obtained by the processing circuitry to another construction machine in the area surrounding the construction machine.2. The construction machine as claimed in claim 1 , further comprising:a camera configured to capture an image of the work area in the area surrounding the construction machine,wherein the information on the work area obtained by the processing circuitry includes a determination result of a predetermined determination as to the work area made based on the image captured by the camera.3. The construction machine as claimed in claim 2 , wherein the predetermined determination includes a determination as to whether there is an object in the work area.4. The construction machine as claimed in claim 1 , wherein the information on the work area obtained by the processing circuitry includes information on a construction area of the work area.5. The construction machine as claimed in claim 1 , further comprising:a receiver configured to receive information on the work area from a predetermined apparatus positioned in the area surrounding the construction machine.6. The construction machine as claimed in claim 5 , whereinthe predetermined apparatus includes a stationary apparatus including a stationary camera configured to capture an image of the work area, andthe receiver is configured to receive the image captured by the stationary camera or information on the work area based on the ...

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Номер записи: 15
07-01-2021 дата публикации

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

Номер: US20210001487A1
Автор: KAWAGUCHI Atsuo, OHTSUKA Aiko
Принадлежит: RICOH COMPANY, LTD.

An information processing apparatus for controlling an operation of a telepresence robot at a site includes circuitry configured to receive notification information including device position information of an operation device at the site, the operation device being configured to receive an operation performed by a user, output an operation start request for moving to a specific movement destination, to a specific telepresence robot that is identified based on the device position information included in the received notification information and robot position information of the telepresence robot at the site, transmit a communication request to an administrator terminal configured to perform a remote communication with the specific telepresence robot, instruct the specific telepresence robot to move to the specific movement destination, and start a remote communication between the administrator terminal and the specific telepresence robot. 1. An information processing apparatus for controlling an operation of a telepresence robot at a site , the information processing apparatus comprising:circuitry configured toreceive notification information including device position information of an operation device at the site, the operation device being configured to receive an operation performed by a user;output an operation start request for moving to a specific movement destination, to a specific telepresence robot that is identified based on the device position information included in the received notification information and robot position information of the telepresence robot at the site;transmit a communication request to an administrator terminal configured to perform a remote communication with the specific telepresence robot;instruct the specific telepresence robot to move to the specific movement destination; andstart a remote communication between the administrator terminal and the specific telepresence robot.2. The information processing apparatus of claim 1 , ...

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Номер записи: 16
03-01-2019 дата публикации

SERVER CONNECTIVITY CONTROL FOR TELE-PRESENCE ROBOT

Номер: US20190001498A1
Автор: Herzog John Cody, Jordan Charles S., Pinter Marco, Wang Yulun, Whitney Blair
Принадлежит:

A robot system with a robot that has a camera and a remote control station that can connect to the robot. The connection can include a plurality of privileges. The system further includes a server that controls which privileges are provided to the remote control station. The privileges may include the ability to control the robot, joint in a multi-cast session and the reception of audio/video from the robot. The privileges can be established and edited through a manager control station. The server may contain a database that defines groups of remote control station that can be connected to groups of robots. The database can be edited to vary the stations and robots within a group. The system may also allow for connectivity between a remote control station at a user programmable time window. 1. A remote controlled robot , comprising:a robot that has a camera;a remote control station that can connect to said robot, said connection including a plurality of privileges;a server that controls which privileges are provided to said remote control station; and,a manager control station that can access said server to establish and edit said privileges.2. The system of claim 1 , wherein said robot includes a monitor.3. The system of claim 2 , wherein said robot includes a mobile platform.4. The system of claim 1 , wherein said privileges include an ability to operate said robot.5. The system of claim 1 , wherein said privileges include an ability to participate in a session with another remote station.6. The system of claim 1 , wherein said privileges include an ability to view a video image captured by said robot camera.7. The system of claim 1 , wherein said privileges include an ability to hear audio captured by a robot microphone.8. The system of claim 2 , wherein said privileges include an ability for the video image captured by a control station camera to be displayed on said robot monitor.9. The system of claim 1 , wherein said privileges include an ability for the ...

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Номер записи: 17
03-01-2019 дата публикации

SELF-PROPELLED ROBOT

Номер: US20190001499A1
Автор: Matsuuchi Hideto, Miyake Tohru, Morita Kazuo
Принадлежит:

A self-propelled robot that self-travels on a structure having a flat surface to perform a cleaning operation, the self-propelled robot includes a robot main body (), a controller () that controls movement of the moving unit in a forward direction and a rearward direction, an operation unit () that is controlled by the controller, and a pair of detection units that are first and second detection units, each of which functioning to detect if there is the flat surface of the structure beneath the detection unit. Wherein, seen from a top view of the robot, the first detection unit and the second detection unit () are both arranged at the front end of the robot. 112-. (canceled)13. A self-propelled robot that self-travels on a structure having a flat surface to perform a cleaning operation on the flat surface of the structure , the self-propelled robot , comprising:{'b': 2', '4, 'a robot main body () in which a moving unit () for the self-travel is provided;'}{'b': '30', 'a controller () that controls movement of the moving unit by using a wheel or a crawler wherein, when the robot main body travels in a moving direction, the moving direction is defined as a forward direction and the opposite direction is defined as a rearward direction, and an end of the robot, which faces the forward direction, is defined as a front end, another end of the robot, which faces the rearward direction, is defined as a rear end,'}{'b': '12', 'i': 'a', 'an operation unit () that is controlled by the controller, and performs the cleaning operation, the operation unit being arranged at the front end of the robot, and'}a pair of detection units that are first and second detection units, each of which functioning to detect if there is the flat surface of the structure beneath the detection unit, whereinseen from a top view of the robot, which is perpendicular to the flat surface of the structure,{'b': 31', '31', '31', '31, 'i': a,', 'b,', 'c,', 'd, 'the first detection unit and the second ...

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Номер записи: 18
07-01-2021 дата публикации

Testing Predictions For Autonomous Vehicles

Номер: US20210001840A1
Автор: Fairfield Nathaniel, Furman Vadim
Принадлежит:

Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action. 1. A method of controlling a first vehicle autonomously , the method comprising:storing, in at least one memory device by one or more processors, first instructions for the first vehicle to initiate a maneuver and second instructions for the first vehicle to complete the maneuver;controlling, by the one or more processors, the first vehicle to initiate the maneuver according to one or more of the first instructions;predicting, by the one or more processors, whether the maneuver can be safely completed; andwhen the predicting indicates that the maneuver can be safely completed, controlling, by the one or more processors, the first vehicle to complete the maneuver according to one or more of the second instructions.2. The method of claim 1 , further comprising:planning, by the one or more processors, to perform the maneuver; anddividing, by the one or more processors, the maneuver into a first portion and a second portion,wherein the one or more of the first instructions correspond to the first portion of the maneuver and the one or more of the second ...

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Номер записи: 19
07-01-2021 дата публикации

Neural network with lane aggregation for lane selection prediction of moving objects during autonomous driving

Номер: US20210001843A1
Автор: Hongyi Sun, Jiacheng Pan, Jinghao Miao, Kecheng XU, Yajia ZHANG
Принадлежит: Baidu USA LLC

In one embodiment, an autonomous driving system of an ADV perceives a driving environment surrounding the ADV based on sensor data obtained from various sensors, including detecting one or more lanes and at least a moving obstacle or moving object. For each of the lanes identified, an NN lane feature encoder is applied to the lane information of the lane to extract a set of lane features. For a given moving obstacle, an NN obstacle feature encoder is applied to the obstacle information of the obstacle to extract a set of obstacle features. Thereafter, a lane selection predictive model is applied to the lane features of each lane and the obstacle features of the moving obstacle to predict which of the lanes the moving obstacle intends to select.

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Номер записи: 20
07-01-2021 дата публикации

UNMANNED VEHICLE CONTROL SYSTEM, UNMANNED VEHICLE, AND UNMANNED VEHICLE CONTROL METHOD

Номер: US20210001847A1
Автор: Baba Akinori, Yamamura Ryuu
Принадлежит: KOMATSU LTD.

An unmanned vehicle control system includes: a specified command value calculation unit that calculates a specified command value for start of an unmanned vehicle; a corrected command value calculation unit that, when request data requesting a limitation of a travel speed of the unmanned vehicle is acquired, corrects the specified command value based on the request data to calculate a corrected command value; and a travel control unit that, when the request data is acquired, controls the start of the unmanned vehicle based on the corrected command value. 1. An unmanned vehicle control system comprising:a specified command value calculation unit that calculates a specified command value for start of an unmanned vehicle in a stopped state;a corrected command value calculation unit that, when request data requesting a limitation of a travel speed of the unmanned vehicle is acquired, corrects the specified command value based on the request data to calculate a corrected command value; anda travel control unit that, when the request data is acquired, controls the start of the unmanned vehicle based on the corrected command value.2. The unmanned vehicle control system according to claim 1 , further comprisinga data acquisition unit that acquires travel condition data specifying a travel condition of the unmanned vehicle, the travel condition data including a target travel speed and a target azimuth of the unmanned vehicle set at each of a plurality of travel points, whereinthe corrected command value calculation unit determines whether the limitation of the travel speed is requested based on the travel condition data, and calculates the corrected command value.3. The unmanned vehicle control system according to claim 2 , whereinthe corrected command value calculation unit determines whether the limitation of the travel speed is requested based on the target travel speed set at the travel point ahead by a specified distance from the unmanned vehicle in a stopped state, and ...

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Номер записи: 21
07-01-2021 дата публикации

Efficiency improvement for machine learning of vehicle control using traffic state estimation

Номер: US20210001857A1
Автор: Hao Yang, Ippei NISHITANI, Kentaro Oguchi, RUI Guo, Shalini Keshavamurthy
Принадлежит: Toyota Motor Engineering and Manufacturing North America Inc

A method of improving efficiency of a vehicle behavior controller using a traffic state estimation network is described. The method includes feeding an input of a feature extraction network of the vehicle behavior controller with a sequence of images. The sequence of images include a highway section and corresponding traffic data. The method also includes disentangling an estimated behavior of a controlled ego vehicle. by the traffic state estimation network. The traffic state estimate network disentangles the estimated of the controlled ego vehicle from extracted traffic state features of the input provided by the feature extraction network. The method further includes selecting an action to adjust an autonomous behavior of the controlled ego vehicle according to the estimated behavior of the controlled ego vehicle.

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Номер записи: 22
06-01-2022 дата публикации

INFRASTRUCTURE SYSTEM

Номер: US20220004190A1
Автор: Rische Stefan
Принадлежит: IMA Schelling Deutschland GmbH

An infrastructure system with an automated guided vehicle system (FTS) that has an automated guided vehicle (AGV), and a control means. The infrastructure system has a safety region that has an entrance region through which the AGV can drive, wherein the AGV has a safety scanner which emits a scanning signal. The safety scanner is designed to detect objects and obstacles located in the driving region of the AGV independently of a navigation system for controlling and determining the position of the AGV. A sensor is arranged in the entrance region, which sensor can detect the scanning signal emitted by the AGV. The control means is designed, in response to a predefined scanning signal detected by the sensor, to determine the presence and/or authorization of the AGV in the entrance region, which authorization is required for driving into the safety region. 11461111546215146. An infrastructure system , comprising an automated guided vehicle system (FTS) that has at least one automated guided vehicle () , and a control means , wherein the infrastructure system also comprises at least one safety region that has an entrance region ( , ) through which the automated guided vehicle () can drive , wherein the at least one automated guided vehicle () has a safety scanner which emits a scanning signal and , independently of a navigation system for controlling and determining the position of the automated guided vehicle () , detects objects and obstacles located in the driving region of the automated guided vehicle () , wherein a sensor () is arranged in the entrance region ( , ) , which sensor can detect the scanning signal () emitted by the at least one automated guided vehicle () , wherein the control means , in response to a predefined scanning signal detected by the sensor () , establishes the presence and/or authorization of the automated guided vehicle () in the entrance region ( , ) , which authorization is required for driving into the safety region.2. The ...

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Номер записи: 23
07-01-2021 дата публикации

LANE CHANGE CONTROL DEVICE AND METHOD FOR AUTONOMOUS VEHICLE

Номер: US20210001858A1
Автор: Kang Dong Hoon
Принадлежит:

A lane change control device and a method for an autonomous vehicle improve safety and accuracy in changing lanes on a road. In particular, the lane change control device includes: a learning device that learns an environment in which the autonomous vehicle is able to change lanes on a road; and a controller that controls a lane change of the autonomous vehicle, based on a learned result of the learning device. 1. A lane change control device of an autonomous vehicle , comprising:a learning device configured to learn an environment in which the autonomous vehicle is able to make a lane change; anda controller configured to control the lane change of the autonomous vehicle, based on a learned result of the learning device.2. The lane change control device of claim 1 , wherein the controller is configured to control the lane change of the autonomous vehicle claim 1 , considering whether a rearward vehicle travelling in a target lane yields to the autonomous vehicle claim 1 , even when it is determined that the autonomous vehicle is able to make the lane change.3. The lane change control device of claim 2 , wherein the controller is configured to stop the autonomous vehicle and re-determine whether the autonomous vehicle is able to make the lane change when the rearward vehicle does not yield to the autonomous vehicle during the lane change of the autonomous vehicle.4. The lane change control device of claim 3 , wherein the controller is configured to determine that the rearward vehicle yields to the autonomous vehicle when a speed of the rearward vehicle is reduced claim 3 , and the controller is configured to determine that the rearward vehicle does not yield to the autonomous vehicle when the speed of the rearward vehicle is maintained or increased.5. The lane change control device of claim 4 , wherein the controller is configured to determine whether the rearward vehicle yields to the autonomous vehicle claim 4 , additionally considering whether signal lamps of the ...

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Номер записи: 24
07-01-2021 дата публикации

Systems And Methods For Detecting And Dynamically Mitigating Driver Fatigue

Номер: US20210001864A1
Автор: CaveLie Hans-Olav, Engstrom Johan, Hubert Renaud-Roland, Hutchings Keith, Mercay Julien, Nemec Philip, Panigrahi Saswat
Принадлежит:

This technology relates to dynamically detecting, managing and mitigating driver fatigue in autonomous systems. For instance, interactions of a driver in a vehicle may be monitored to determine a distance or time when primary tasks associated with operation of the vehicle or secondary tasks issued by the vehicle computing were last performed. If primary tasks or secondary tasks are not performed within given distance thresholds or time limits, then one or more secondary tasks are initiated by the computing device of the vehicle. In another instance, potential driver fatigue, driver distraction or overreliance on an automated driving system is detected based on gaze direction or pattern of a driver. For example, a detected gaze direction or pattern may be compared to an expected gaze direction or pattern given the surrounding environment in a vicinity of the vehicle. 1. An interactive cognitive task method for a vehicle capable of partially or fully autonomous driving , the method comprising:determining, by one or more processors of a self-driving system of the vehicle, a primary task demand metric for a primary task associated with vehicle operation;evaluating, by the one or more processors, the primary task demand metric in view of a driving context regarding one or more current driving conditions, to identify a measure of a level of driver interactivity; andassigning, by the one or more processors, an interactive cognitive task to the driver of the vehicle based on the evaluating.2. The method of claim 1 , wherein the one or more current driving conditions includes at least one of (i) location and movement of objects in an external environment within a vicinity of the vehicle claim 1 , (ii) terrain in the external environment claim 1 , (iii) a route being travelled by the vehicle claim 1 , (iv) claim 1 , a weather condition in the external environment claim 1 , (v) a speed of the vehicle claim 1 , (vi) a time of day claim 1 , or (vii) a traffic condition in the ...

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Номер записи: 25
06-01-2022 дата публикации

Verification Of Iterative Closest Point Alignments For Autonomous Vehicles

Номер: US20220004197A1
Автор: Chen Mingcheng, Lauterbach Christian
Принадлежит:

Aspects of the disclosure relate to training and using a model for verifying accuracy of ICP alignments or alignments between data points using an iterative closest point algorithm. For instance, a model may be trained using ICP alignment data, including alignments between an object appearing in LIDAR sensor frames. The training may also include setting a definition for a trusted ICP alignment. In this regard, the model may be trained such that, n response to receiving additional LIDAR sensor frames and corresponding additional ICP alignment data, output a value indicative of whether the additional ICP alignment data is trusted according to the definition. The model may then be used to control a vehicle in an autonomous driving mode by determining whether alignment data for object determined using the ICP algorithm should be trusted. 1. A method for controlling a vehicle having an autonomous driving mode , the method comprising:receiving, by one or more computing devices of the vehicle, a plurality of LIDAR sensor data frames including an object;using, by the one or more computing devices, the plurality of LIDAR sensor data frames and an ICP algorithm to determine alignment data for the object;determining, by the one or more computing devices, whether the alignment data for the object should be trusted using a model, wherein the alignment data is trusted if a velocity determined from the alignment data is within a tolerance value of a ground truth velocity expected from the plurality of LIDAR sensor data frames; andcontrolling, by the one or more computing devices, the vehicle in the autonomous driving mode based on the determination of whether the alignment data for the object should be trusted.2. The method of claim 1 , wherein the model is a decision tree.3. The method of claim 1 , wherein the alignment data is trusted if a translation rate determined from the alignment data is within a tolerance value of a ground truth translation rate expected from the ...

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Номер записи: 26
07-01-2021 дата публикации

Systems And Methods For Detecting And Dynamically Mitigating Driver Fatigue

Номер: US20210001865A1
Автор: CaveLie Hans-Olav, Engstrom Johan, Hubert Renaud-Roland, Hutchings Keith, Mercay Julien, Nemec Philip, Panigrahi Saswat
Принадлежит:

This technology relates to dynamically detecting, managing and mitigating driver fatigue in autonomous systems. For instance, interactions of a driver in a vehicle may be monitored to determine a distance or time when primary tasks associated with operation of the vehicle or secondary tasks issued by the vehicle computing were last performed. If primary tasks or secondary tasks are not performed within given distance thresholds or time limits, then one or more secondary tasks are initiated by the computing device of the vehicle. In another instance, potential driver fatigue, driver distraction or overreliance on an automated driving system is detected based on gaze direction or pattern of a driver. For example, a detected gaze direction or pattern may be compared to an expected gaze direction or pattern given the surrounding environment in a vicinity of the vehicle 1. A method for managing driver inattention , comprising:acquiring, by one or more processors, images of one or both of a driver's eyes to determine an actual gaze direction of the driver or an actual gaze pattern of the driver of a vehicle;determining, by the one or more processors, an expected gaze direction of the driver or an expected gaze pattern of the driver based on at least one of a planned route of the vehicle and objects detected in an external environment of the vehicle;comparing, by the one or more processors, (i) the actual gaze direction to the expected gaze direction or (ii) the actual gaze pattern to the expected gaze pattern;determining, by the one or more processors based on the comparison, whether the driver's visual scanning of the external environment deviates from the expected gaze direction or the expected gaze pattern; andtaking corrective action upon determining that the driver's visual scanning of the external environment deviates by an amount that indicates driver inattention.2. The method of claim 1 , wherein determining whether the driver's visual scanning of the external ...

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Номер записи: 27
07-01-2021 дата публикации

Method for Autonomously Operating a Vehicle, Controller Device for a Vehicle, and Vehicle

Номер: US20210001867A1
Автор: Bopp Andreas, Elenberger Alexander, Prill Andy-Max, Rondinone Michele
Принадлежит:

A method for operating an autonomously driving vehicle includes operating the vehicle in a first autonomous driving mode by means of a controller device based on sensor data captured by a sensor system of the vehicle, determining, from environmental data which includes at least the sensor data, presence of a handover condition at a handover location within a planned trajectory of the vehicle, establishing a data communication to a leading vehicle being operated in an autonomous driving mode to travel along a leading trajectory including the handover location, and operating the vehicle in a second autonomous driving mode based at least partially on first auxiliary data provided by the leading vehicle. 1. A method for operating an autonomously driving vehicle , the method comprising:operating the vehicle in a first autonomous driving mode by using a controller device based on sensor data captured by a sensor system of the vehicle;determining, from environmental data that includes at least the sensor data, the presence of a handover condition at a handover location within a planned trajectory of the vehicle;establishing a data communication to a leading vehicle being operated in an autonomous driving mode to travel along a leading trajectory including the handover location; andoperating the vehicle in a second autonomous driving mode based at least partially on first auxiliary data provided by the leading vehicle, the first auxiliary data including the leading trajectory.2. The method according to claim 1 , wherein the presence of the handover condition is determined based on the sensor data claim 1 , and wherein establishing the data communication to the leading vehicle comprises establishing a direct data link between a communication interface of the vehicle and a communication interface of the leading vehicle.3. The method according to claim 1 , wherein the environmental data further includes second auxiliary data received via a data network to which the vehicle is ...

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Номер записи: 28
07-01-2021 дата публикации

AUTONOMOUS VEHICLE DRIVING CONFIGURATION BASED ON USER PROFILE AND REMOTE ASSISTANCE IN AUTONOMOUS VEHICLE

Номер: US20210001873A1
Автор: Ingrody Michael K., Whikehart John William
Принадлежит:

A system for an autonomous vehicle may include an interface configured to receive a configuration for the autonomous vehicle. The system may also include a controller configured to operate the autonomous vehicle based on the configuration. The controller may be configured to receive an update to the configuration. The controller may be configured to further operate the autonomous vehicle based on the update. 1. A system for an autonomous vehicle , the system comprising:an interface configured to receive a configuration for the autonomous vehicle; anda controller configured to operate the autonomous vehicle based on the configuration,wherein the controller is configured to obtain an update to the configuration and to operate the autonomous vehicle based on the update.2. The system of claim 1 , wherein the controller is further configured to receive feedback from at least one sensor regarding the operating and configured to obtain the update by generating the update based on the feedback.3. The system of claim 2 , wherein the feedback comprises explicit feedback claim 2 , implicit feedback claim 2 , or a combination thereof.4. The system of claim 3 , wherein the implicit feedback comprises facial expression claim 3 , posture claim 3 , gripping claim 3 , or a combination thereof by an occupant of the autonomous vehicle.5. The system of claim 2 , wherein the feedback comprises text input claim 2 , tactile sensor input claim 2 , audio input claim 2 , or any combination thereof by an occupant of the autonomous vehicle.6. The system of claim 1 , wherein the controller is configured to obtain the update by receiving the update over-the-air claim 1 , hardwired claim 1 , via a user equipment claim 1 , or any combination thereof.7. The system of claim 1 , wherein the configuration is user-specific claim 1 , the update is user-specific claim 1 , or both the configuration and the update are user-specific.8. The system of claim 1 , wherein the configuration is group-specific ...

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Номер записи: 29
07-01-2021 дата публикации

VEHICLE-MOUNTED CONTROL UNIT, AND METHOD AND APPARATUS FOR FPGA BASED AUTOMATIC DRIVING OF VEHICLE

Номер: US20210001880A1
Автор: HU Jiayue
Принадлежит: BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD.

Embodiments of the present disclosure provide a vehicle-mounted control unit, and a method and an apparatus for FPGA based automatic driving of a vehicle, which includes a MCU and a first SoC implemented by being integrated with an ARM through the FPGA, where the vehicle-mounted control unit is set on an automatic driving vehicle, the FPGA of the first SoC receives video data sent by a vehicle-mounted camera, performs visual perception on the video data by using a first neural network algorithm to obtain first perception information; and sends the first perception information to the ARM of the first SoC. The ARM of the first SoC processes the first perception information to obtain first decision information, and sends the first decision information to the MCU. Finally, the MCU generates a control command according to the first decision information and sends it to the corresponding execution mechanism. 1. A method for field programmable gate array (FPGA) based automatic driving of a vehicle , suitable for a vehicle-mounted control unit , wherein the vehicle-mounted control unit comprises a first system on chip (SoC) and a micro control unit (MCU) , the first SoC is integrated with an advanced reduced instruction set computer machine (ARM) through the FPGA , and the vehicle-mounted control unit is set on an automatic driving vehicle , wherein the method comprises:receiving, by the FPGA of the first SoC, video data sent by a vehicle-mounted camera;performing, by the FPGA of the first SoC, visual perception on the video data by using a first neural network algorithm to obtain first perception information;sending, by the FPGA of the first SoC, the first perception information to the ARM of the first SoC; andprocessing, by the ARM of the first SoC, the first perception information to obtain first decision information, and sending the first decision information to the MCU.2. The method according to claim 1 , wherein the processing claim 1 , by the ARM of the first SoC ...

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Номер записи: 30
07-01-2021 дата публикации

Safe Trajectory Selection for Autonomous Vehicles

Номер: US20210001881A1
Автор: Poledna Stefan, Steiner Wilfried
Принадлежит:

A method to select one trajectory, the so-called Selected Trajectory (ST), out of a set of trajectories (T-T) to be used by an autonomous or semi-autonomous ground vehicle (GV), wherein the method includes the following steps: (i) assessing said set of trajectories (T-T) with one, two, or a multitude of verification modules (VM-VM) and returning Quality Assessments (Q-Q) for each of the trajectories (T-T); (ii) ranking said trajectories (T-T) with a Ranking Scheme (RS), wherein the Quality Assessments (Q-Q) are taken into account when ranking the trajectories (T-T), and (iii) selecting exactly one trajectory, the Selected Trajectory (TR), based on the rank of the trajectories (T-T). 113. A method to select one trajectory , the so-called Selected Trajectory (ST) , out of a set of trajectories (T-T) to be used by an autonomous or semi-autonomous ground vehicle (GV) , the method comprising the following steps:{'b': 1', '3', '1', '4', '11', '43', '1', '3, 'assessing said set of trajectories (T-T) with one, two, or a multitude of verification modules (VM-VM) and returning Quality Assessments (Q-Q) for each of the trajectories (T-T);'}{'b': 1', '3', '11', '43', '1', '3, 'ranking said trajectories (T-T) with a Ranking Scheme (RS), wherein the Quality Assessments (Q-Q) are taken into account when ranking the trajectories (T-T); and'}{'b': 1', '3, 'selecting exactly one trajectory, the Selected Trajectory (TR), based on the rank of the trajectories (T-T).'}213123. The method according to claim 1 , wherein the set of trajectories (T-T) is generated by two or more Trajectory Generators (TG claim 1 , TG claim 1 , TG).3123. The method according to claim 2 , wherein each Trajectory Generator of the two or more Trajectory Generators (TG claim 2 , TG claim 2 , TG) generates one or more of the trajectories of the set of trajectories independently from the other Trajectory Generators.4. The method according to claim 1 , wherein all Trajectory Generators are diverse claim 1 , in that ...

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Номер записи: 31
07-01-2021 дата публикации

HYDROSTATIC STEERING ARRANGEMENT

Номер: US20210001930A1
Автор: OGNIBENE Claudio
Принадлежит: OGNIBENE POWER S.P.A.

A steering arrangement for a vehicle includes: 1101. A steering arrangement () for a vehicle () comprising:{'b': 65', '80', '85', '70', '75', '95', '80', '85', '70', '90', '120', '125, 'a hydrostatic steering unit () provided with two work ports (,), a high-pressure port (), a low-pressure port (), a main branch of the flow () arranged between the work ports (,) and the high-pressure port () and comprising a dosing device (), and an amplification branch () arranged between the work ports and the high-pressure port, in parallel to the dosing device, and comprising a flow-rate regulating device () of the electrically actuated type,'}{'b': 60', '55', '65, 'a steering shaft () provided with a first end adapted for being connected to a steering member () and a second end adapted for being connected to the hydrostatic steering unit (),'}{'b': 185', '60, 'an electric motor () configured to set the steering shaft () in rotation, and'}{'b': 220', '125, 'an electronic control unit () configured to actuate the flow-rate regulating device () as a function of a parameter indicative of an operating condition of the vehicle.'}2101251202201251. The steering arrangement () according to claim 1 , wherein the flow-rate regulating device () is configured to regulate the flow rate in the amplification branch () within a range of flow rate values comprised between a minimum flow rate value in the amplification branch and a maximum flow rate value in the amplification branch claim 1 , and the electronic control unit () is configured to actuate the flow-rate regulating device () along said range as a function of a parameter indicative of an operating condition of the vehicle ().310220185160. The steering arrangement () according to claim 1 , wherein the electronic control unit () is configured to actuate the electric motor () as a function of the parameter indicative of an operating condition of the vehicle () so as to provide a haptic feedback to the user through a torque generated on the ...

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Номер записи: 32
07-01-2021 дата публикации

SYSTEMS AND METHODS FOR AUTOMATIC AIR AND ELECTRICAL CONNECTIONS ON AUTONOMOUS CARGO VEHICLES

Номер: US20210001932A1
Автор: Grossman William
Принадлежит:

The technology relates to autonomous vehicles having hitched or towed trailers for transporting cargo and other items between locations. Aspects of the technology provide a smart hitch connection between the fifth-wheel of a tractor unit and the kingpin of a trailer. This avoids requiring a person to make physical pneumatic and electrical connections between the fifth-wheel and kingpin using external hoses and cables. Instead, the necessary connections are made internally, autonomously. For instance, the fifth-wheel may provide air pressure via one or more slots arranged on a connection surface, and the trailer is configured to receive the air pressure through one or more openings on a contact surface of the kingpin. An electrical connection section of the fifth-wheel may also provide electrical signals and/or power to an electrical contact interface of the kingpin. Rotational information about relative alignment of the trailer to the tractor unit may also be provided. 1. A vehicle configured to operate in an autonomous driving mode , the vehicle comprising a tractor unit including:a driving system configured to perform driving operations in the autonomous driving mode;a perception system including one or more sensors configured to detect objects in an environment surrounding the vehicle;a fifth-wheel configured to detachably couple to a kingpin of a trailer, the fifth-wheel including a clamp mechanism and a connection region, the clamp mechanism arranged to secure to a clamp section of the kingpin, the connection region including:a pneumatic connection section configured to provide air pressure to a braking system of the trailer, the pneumatic connection section having one or more connections configured to align with one or more reciprocal connections on a contact area of the kingpin, andan inductive connection section configured to provide inductive coupling with the kingpin;a control system operatively coupled to the driving system, the perception system and the ...

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Номер записи: 33
02-01-2020 дата публикации

DRIVING ASSISTANCE APPARATUS AND DRIVING ASSISTANCE METHOD

Номер: US20200001714A1
Автор: Kojima Yoshihiro
Принадлежит: Panasonic Intellectual Property Management Co., Ltd.

Provided is a method for use by a driving assistance apparatus that assists a transition from an autonomous driving mode in which a vehicle is driven under autonomous control to a manual driving mode in which the vehicle is driven by a driver. The method includes: detecting an activity by the driver; detecting conditions of the driver; and determining a take-over request method which is a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled, the determining being based on at least the detected activity by the driver and the detected conditions. 1. A driving assistance apparatus for a vehicle , comprising:one or more memories; and detecting, using at least a sensor, an activity in which a driver is engaging, and a psychological state that reflects a degree of concentration of the driver on the activity, and', 'determining, based on at least the activity and the psychological state, a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled., 'a circuitry that performs, when the vehicle is traveling under an autonomous driving mode, operations including2. The driving assistance apparatus according to claim 1 , whereinthe determining includes determining, according to the degree of the concentration, a degree to which the take-over request is highlighted.3. The driving assistance apparatus according to claim 1 , whereinthe determining includes determining, according to the degree of the concentration, a timing to start the presenting of the take-over request.4. The driving assistance apparatus according to claim 1 , whereinthe operations further includes detecting a physiological state of the driver, andthe determining is performed based on at least the activity, the psychological state, and the physiological state.5. The driving assistance apparatus according to claim 1 , whereinthe determining ...

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Номер записи: 34
02-01-2020 дата публикации

Continuous recharging of driverless electric vehicles without human inter action.

Номер: US20200001731A1
Автор: Gerfast Sten R.
Принадлежит:

This invention is for an inexpensive and cost-effective way to patrol and prevent un-authorized personnel from entering or crossing a special one-way roadway. By having continuous surveillance, with the patrol-vehicles having photo equipment, infra-red equipment, radio equipment for contacting proper authority, and having a siren equipped vehicle, it is unlikely for un-authorized personnel from entering or crossing the one-way roadway. 1. Continuous recharging of driverless electric vehicles , having electrical protruding , receiving contacts , mating with charging contacts located on a roadway fence ,thereby charging the vehicles battery,without human inter action.2. Continuous recharging of driverless electric vehicles , having electrical protruding , two receiving contacts mating with charging contacts located on a protected one-way roadway fence , thereby charging the vehicles battery when the vehicle is in motion , without human inter actions3. Continuous recharging of driverless electric vehicles , having electrical protruding , receiving contacts mating with two , or more , charging contacts located on a protected one-way roadway fence , thereby charging the vehicles battery , and also electronically reporting un-authorized persons in the roadway , all without human inter action.4. Continuous recharging of driverless electric vehicles according to claim 2 , wherein one set of supply contacts is mounted on a fence along the roadway claim 2 , and charging contacts are mounted on the vehicle claim 2 , with the charging contacts sliding on the fence contacts claim 2 , both spring loaded together for good electrical conduction claim 2 , and both protected from the environment.5. Continuous recharging of driverless electric vehicles according to claim 1 , wherein the vehicle is a surveillance patrol vehicle claim 1 , having several communication devises claim 1 , GPS claim 1 , and lights.6. Continuous recharging of driverless electric vehicles according to claim 3 ...

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Номер записи: 35
02-01-2020 дата публикации

METHOD FOR CONTROLLING VEHICLE IN AUTONOMOUS DRIVING SYSTEM AND APPARATUS THEREOF

Номер: US20200001774A1
Автор: KIM Soryoung
Принадлежит:

A method and apparatus for controlling a vehicle in an autonomous driving system. The method for controlling a vehicle in an autonomous driving system can improve recognition accuracy of an object by outputting light corresponding to a first brightness value changed in correspondence to detection of an object having a recognition error larger than a predetermined range during driving while outputting light corresponding to a first brightness value that is determined of the basis of information about external illumination. An autonomous vehicle of the present disclosure may be associated with an artificial intelligence module, a drone ((Unmanned Aerial Vehicle, UAV), a robot, an AR (Augmented Reality) device, a VR (Virtual Reality) device, a device associated with 5G services, etc. 1. A method for controlling a vehicle in an autonomous driving system , the method comprising:acquiring an information about external illumination outside a vehicle;outputting light corresponding to a first brightness value that is determined on the basis of the information about external illumination;checking an object having a recognition error larger than a predetermined range while outputting the light corresponding to the first brightness value; andoutputting light corresponding to a second brightness value that is determined on the basis of a recognition error of the object.2. The method of claim 1 , wherein the outputting of light corresponding to a first brightness value includes:transmitting information about the external illumination to a server;receiving a basic brightness value for the external illumination from the server; anddetermining the basic brightness value as the first brightness value, wherein the basic brightness value is determined on the basis of the information about the external illumination and learning information and the learning information may include headlight brightness information of another vehicle collected in an environment similar to the external ...

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Номер записи: 36
02-01-2020 дата публикации

METHOD FOR COMMUNICATING INTENT OF AN AUTONOMOUS VEHICLE

Номер: US20200001779A1
Автор: Alexander Chip J.
Принадлежит:

One variation of a method for communicating intent includes, at an autonomous vehicle: autonomously approaching an intersection; autonomously navigating to a stop proximal the intersection; while stopped proximal the intersection, projecting an intent icon onto pavement at a first distance ahead of the autonomous vehicle; calculating a confidence score for possession of right of way of the autonomous vehicle to enter the intersection based on objects detected in a field around the autonomous vehicle; projecting the intent icon onto pavement at distances ahead of the autonomous vehicle proportional to the confidence score and greater than the first distance; and in response to the confidence score exceeding a threshold score, autonomously entering the intersection. 1. A method for communicating intent comprising , at an autonomous vehicle:autonomously approaching an intersection;autonomously navigating to a stop proximal the intersection;while stopped proximal the intersection, projecting an intent icon onto pavement at a first distance ahead of the autonomous vehicle;calculating a confidence score for possession of right of way of the autonomous vehicle to enter the intersection based on objects detected in a field around the autonomous vehicle;projecting the intent icon onto pavement at distances ahead of the autonomous vehicle proportional to the confidence score and greater than the first distance; andin response to the confidence score exceeding a threshold score, autonomously entering the intersection.2. A method for communicating intent comprising , at an autonomous vehicle:autonomously approaching an intersection;while slowing upon approach to the intersection, projecting an intent icon onto pavement at a distance ahead of the autonomous vehicle decreasing with decreasing speed of the autonomous vehicle;while stopped proximal the intersection, projecting an intent icon onto pavement at a first distance ahead of the autonomous vehicle;predicting possession of ...

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Номер записи: 37
02-01-2020 дата публикации

Method and system for indicating an autonomous kinematic action of a vehicle

Номер: US20200001785A1
Автор: Fredrik Folkestad, Mikael Gordh, Mikael Ljung Aust, Tomas Omasta, TRENT Victor
Принадлежит: Volvo Car Corp

The present disclosure relates to a method performed by an intention indicating system of a vehicle, for indicating to a potential vehicle occupant thereof an ongoing or impending autonomous kinematic action of the vehicle. The intention indicating system determines an ongoing or impending autonomous kinematic action of the vehicle. The intention indicating system further provides, with support from a light providing device including one or more light sources adapted to emit light, which light providing device is provided continuously and/or intermittently along a majority of a horizontal circumference of the vehicle, a visual light output visible at least from an inside of said vehicle representing the autonomous kinematic action. The disclosure also relates to an intention indicating system in accordance with the foregoing, and further to a vehicle including such an intention indicating system.

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Номер записи: 38
02-01-2020 дата публикации

DRIVING SUPPORT DEVICE

Номер: US20200001855A1
Автор: MARUOKA Tetsuya, Watanabe Kazuya, Yamamoto Kinji
Принадлежит: AISIN SEIKI KABUSHIKI KAISHA

A driving support device that controls a steering unit such that a hitch angle between a tow vehicle, which tows a towed vehicle, and the towed vehicle becomes a target angle set as a target includes: an image control unit that causes a display unit to perform display of a captured image obtained by an imaging unit provided in the tow vehicle or the towed vehicle in a mirror image state and display of a setting image including a slider indicating the target angle input through an input unit; an acquisition unit that acquires input of the target angle at the time of backward movement of the tow vehicle from the input unit, in a state where the setting image is displayed; and a setting unit that sets the target angle based on the input. 1. A driving support device that controls a steering unit such that a hitch angle between a tow vehicle , which tows a towed vehicle , and the towed vehicle becomes a target angle set as a target , the device comprising:an image control unit that causes a display unit to perform display of a captured image obtained by an imaging unit provided in the tow vehicle or the towed vehicle in a mirror image state and display of a setting image including a slider indicating the target angle input through an input unit;an acquisition unit that acquires input of the target angle at the time of backward movement of the tow vehicle from the input unit, in a state where the setting image is displayed; anda setting unit that sets the target angle based on the input.2. The driving support device according to claim 1 , whereinthe setting unit maintains the target angle input from the input unit until a predetermined determination condition is satisfied, and sets the target angle to a reference angle in a case where the predetermined determination condition is satisfied.3. The driving support device according to claim 1 , whereinthe input unit receives slide operation of the slider in a horizontal direction,in a case where the acquisition unit has ...

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Номер записи: 39
02-01-2020 дата публикации

PLANNING PARKING TRAJECTORY FOR SELF-DRIVING VEHICLES

Номер: US20200001863A1
Автор: HU Jiangtao, Jiang Yifei, Li Dong, LUO QI, TAO Jiaming, ZHANG Liangliang
Принадлежит:

A parking system for autonomous driving vehicles (ADV) is disclosed that utilizes the perception, planning, and prediction modules of ADV driving logic to more safely and accurately park an ADV. An ADV scans a parking lot for an available space, then determines a sequence of portions or segments of a parking path from the ADV's location to a selected parking space. The sequence of segments involves one or more forward driving segments and one or more reverse driving segments. During the forward driving segments, the ADV logic uses the perception, planning, and prediction modules to identify one or more obstacles to the ADV parking path, and speed and direction of those obstacles. During a reverse driving segment, the ADV logically inverts the orientation of the perception, planning, and prediction modules to continue to track the one or more obstacles and their direction and speed while the ADV is driving in a reverse direction. For each parking path portion, the planning module generates a smooth reference line for the portion, taking into account the one or more obstacles, and their speed and direction. 1. A computer-implemented method of parking an autonomous driving vehicle (ADV) , the method comprising:generating a parking path comprising a first path portion and a second path portion;in response to determining that a direction for the first path portion is a forward direction of the ADV, setting an orientation of a perception and planning module of the ADV to a forward orientation of the ADV, otherwise inverting the orientation of the perception and planning module of the ADV;determining one or more obstacles surrounding the ADV;generating, and navigating, a first reference path for the first portion, in relation to the one or more obstacles;inverting the orientation of the perception and planning module and reversing the direction of the ADV;generating, and navigating, a second reference path for the second portion, in relation to the one or more obstacles.2. ...

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Номер записи: 40
02-01-2020 дата публикации

Determining Visibility Distances Based on a Dynamic Field of View of a Vehicle

Номер: US20200001877A1
Автор: BURCA Cristian
Принадлежит:

A method and a system determine visibility distances based on a dynamic Field of View (FoV) of a subject vehicle. A vehicle incorporates the system. Map polygons are created, each of which determines edges of a road in a map of the surroundings of the subject vehicle. Further, visible areas are determined in the map by intersecting the map polygons with the dynamic FoV. Based on the visible areas, a visibility distance for the road is determined. 112141. A method of determining visibility distances () based on a dynamic Field of View , FoV , () of an ego vehicle () , comprising the following steps:{'b': 10', '14', '3', '1, 'initializing (S) the dynamic FoV () based on sensor data of at least one sensor () of the ego vehicle ();'}{'b': 20', '5', '1, 'creating (S) map polygons, each of which determines edges of a road () in a map of the surroundings of the ego vehicle ();'}{'b': 30', '14, 'determining (S) visible areas in the map by intersecting the map polygons with the dynamic FoV (); and'}{'b': 40', '12', '5, 'determining (S) a visibility distance () for the road () based on the visible areas.'}214. The method according to claim 1 , wherein initializing the dynamic FoV () comprises the following steps:{'b': 11', '7', '3', '1, 'initializing (S) an ideal FoV () for each sensor () of the ego vehicle ();'}{'b': 12', '9', '3', '3', '9, 'determining (S) occlusions () for each sensor (), based on the sensor data of the respective sensor () and creating non-visible polygons based on the occlusions ();'}{'b': 13', '3', '7', '10, 'subtracting (S), for each sensor (), the respective non-visible polygons from the respective ideal FoV (), forming an altered FoV (); and'}{'b': 14', '10', '14, 'unifying (S) the altered FoVs () forming the dynamic FoV ().'}3121351351. The method according to claim 1 , wherein each said visibility distance () starts at a midpoint () of the road () claim 1 , which midpoint () is in a center of the road () and on a 0-longitudinal coordinates line ...

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Номер записи: 41
04-01-2018 дата публикации

ROBOTIC VEHICLE CONTROL

Номер: US20180001902A1
Автор: Duncan William D., Hyde Roderick A.
Принадлежит: ELWHA LLC

A vehicle includes a detection system configured to acquire data regarding operation of the vehicle, and a robotic driving device configured to provide robotic control of the vehicle. The vehicle also includes a control system configured to determine whether the robotic driving device is activated, such that the vehicle is in robotic driving mode; receive a request by a prospective operator of the vehicle to deactivate the robotic driving device to initiate a manual driving mode; determine whether the prospective operator is impaired based on the data; and selectively grant or refuse the request based on the determination. 1. A method of responding to an emergency situation in a vehicle , comprising:receiving threshold data indicative of an emergency situation;acquiring operation data regarding operation of the vehicle, wherein the operation data includes data regarding a non-operator passenger of the vehicle;determining whether an emergency situation exists based on the threshold data and the operation data;selectively activating a robotic driving mode to direct the vehicle to an emergency response location selected based on the emergency situation determination; andturning the vehicle off after arrival at the emergency response location.2. The method of claim 1 , wherein a control system prevents deactivation of the robotic driving mode during the direction of the vehicle to the emergency response location.3. The method of claim 1 , wherein the operation data includes a state characteristic of the non-operator passenger claim 1 , wherein the state characteristic includes an indication of at least one of a cognitive response ability claim 1 , a heart rate claim 1 , a tremor claim 1 , a blood alcohol level claim 1 , a blood flow level claim 1 , a pupil dilation level claim 1 , a vision acuity level claim 1 , and a presence of an impairing drug claim 1 , such as marijuana.4. The method of claim 1 , wherein the operation data includes a driving characteristic of an ...

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Номер записи: 42
02-01-2020 дата публикации

MATERIALS HANDLING VEHICLE OBSTACLE SCANNING TOOLS

Номер: US20200001917A1
Автор: Mai Yuan, STEWART Alan
Принадлежит: Crown Equipment Corporation

A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available. 1. A materials handling vehicle comprisinga vehicle drive mechanism, andan obstacle scanning tool, wherein:{'sub': 'C', 'the vehicle drive mechanism facilitates movement of the materials handling vehicle and materials handled by the materials handling vehicle along a travel path at a vehicle speed Stowards a destination;'}{'sub': i', 'i, 'the obstacle scanning tool comprises obstacle scanning hardware establishing a scan field, a path filter establishing a filter field, and a performance filter establishing a performance field P, and is configured to indicate the presence of obstacles in the filter field and the performance field P; and'} establish the filter field using the path filter,', {'sub': i', 'i, 'establish the performance field Pin response to an input performance level Lusing the performance filter,'}, {'sub': 'i', 'scan for obstacles in the filter field and the performance field P,'}, 'execute obstacle avoidance for obstacles detected in the filter field, and', {'sub': i', 'i, ' ...

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Номер записи: 43
03-01-2019 дата публикации

METHOD AND VEHICLE FOR ACTIVATING AN AUTONOMOUS BRAKING MANEUVER

Номер: US20190001941A1
Автор: NILSSON Jonas, Westlund Mathias
Принадлежит: VOLVO CAR CORPORATION

Embodiments herein relate to a method performed by an autonomous vehicle for activating an autonomous braking maneuver of the autonomous vehicle having an autonomous drive system. The autonomous vehicle detects at least one user initiated request for an autonomous braking maneuver of the vehicle when the vehicle is in a first autonomous drive mode at a speed. The autonomous braking maneuver is at least one of: speed reduction or stop. When the request has been detected, the autonomous vehicle activates the autonomous braking maneuver of the vehicle which reduces the speed and/or brakes the vehicle to a stop. 1. A method performed by an autonomous vehicle for activating an autonomous braking maneuver of the vehicle , wherein the vehicle includes an autonomous drive system , the method comprising:detecting at least one user initiated request for an autonomous braking maneuver of the vehicle when the vehicle is in a first autonomous drive mode at a speed, wherein the autonomous braking maneuver is at least one of speed reduction or stop; andwhen the at least one user initiated request has been detected, activating the autonomous braking maneuver of the vehicle which reduces the speed and/or brakes the vehicle to a stop.2. The method according to wherein a first user initiated request activates the autonomous braking maneuver which reduces the speed claim 1 , andwherein a second user initiated request following the first user initiated request causes braking of the vehicle from the reduced speed to a stop.3. The method according to wherein the vehicle is in a second autonomous drive mode when the vehicle is driving at the reduced speed claim 1 , and wherein the method further comprises:when the vehicle is in the second autonomous drive mode and when the autonomous drive system is substantially fault free, requesting of a user whether the first autonomous drive mode of the vehicle should be resumed or if the second autonomous drive mode should be maintained;receiving a ...

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Номер записи: 44
03-01-2019 дата публикации

PATH PLANNING METHOD FOR COMPUTING OPTIMAL PARKING MANEUVERS FOR ROAD VEHICLES AND CORRESPONDING SYSTEM

Номер: US20190001967A1
Автор: Consolini Luca, Furlan Axel, Giorelli Michele, Laurini Mattia, Locatelli Marco, Micelli Piero
Принадлежит:

Path planning method for computing optimal parking maneuvers for road vehicles including the steps of computing a set of value functions of a cost function of parking maneuvers reaching the target set of states as unique viscosity solution of a Hamilton Jacobi Bellman equation, supplying the set of value functions, together with a starting state of the vehicle, as input to the dynamic programming calculation procedure calculating at least the set of vehicle controls. The set of equations modeling the evolution of the state of said road vehicle is a switched system of equations between a first sub-system if the vehicle is in forward motion and a second sub-system if the vehicle is in reverse motion. The cost function takes into account the arrival time a number of direction changes of the road vehicle between forward motion and reverse motion. 1. A path planning method for computing optimal parking maneuvers for road vehicles , in particular operating in a known environment in the presence of static obstacles , said method comprising operating according to a dynamic programming calculation procedure to compute a set of vehicle controls implementing an optimal parking maneuver to reach a target set of states corresponding to a given parking target , said parking maneuvers being trajectories obtained by a system of equations modeling the evolution of a state of said road vehicle as a function of vehicle controls ,said method including the steps of:computing a set of value functions of a cost function of parking maneuvers reaching said target set of states as unique viscosity solution of a Hamilton Jacobi Bellman equation, said cost function taking in account an arrival time of the vehicle for a given parking maneuver,supplying said set of value functions, together with a starting state of the vehicle, as input to a control synthesis procedure calculating at least said set of vehicle controlswherein said set of equations modeling of the evolution of the state of said ...

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Номер записи: 45
03-01-2019 дата публикации

DRIVING SUPPORT APPARATUS

Номер: US20190001971A1
Автор: Hayasaka Shoichi, NGUYEN VAN Quy Hung
Принадлежит: TOYOTA JIDOSHA KABUSHIKI KAISH

A driving support apparatus according to the invention estimates the position of a moving body by controlling a position estimation unit when the tracking-target moving body leaves a first area or a second area to enter a blind spot area and detects the position of the moving body by controlling a position detection unit when the moving body leaves the blind spot area to enter the first area or the second area. In this manner, the trajectory of the tracking-target moving body is calculated so that the trajectory of the moving body detected in the first area or the second area and the trajectory of the moving body estimated in the blind spot area are continuous to each other and driving support is executed based on the calculated trajectory of the tracking-target moving body. 1. A driving support apparatus comprising:a first sensor provided at a front side of a subject vehicle and configured to detect a situation of a first area on a front side of the subject vehicle;a second sensor provided at a rear side of the subject vehicle and configured to detect a situation of a second area on a rear side of the subject vehicle, the second area being an area different from the first area;a position detection unit configured to detect a position of a tracking-target moving body moving in the first area and the second area;a position estimation unit configured to estimate a position of the tracking-target moving body moving in a blind spot area based on the position of the tracking-target moving body detected in any one of the first area and the second area by the position detection unit, the blind spot area being an area on a side of the subject vehicle and being an area other than the first area and the second area; calculate a trajectory of the tracking-target moving body, so that a trajectory of the tracking-target moving body detected in at least one of the first area and the second area and a trajectory of the tracking-target moving body estimated in the blind spot area ...

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Номер записи: 46
06-01-2022 дата публикации

Autonomous Mobile Delivery Robot And Chain Of Custody System

Номер: US20220004979A1
Автор: Andres Chamorro, III, Anthony Melanson, Ashley James NYE LEGG, Mark C. Matthews, Ryan LIST, Scott E. Stropkay, Spencer Allen
Принадлежит: ST Engineering Aethon Inc

Disclosed are a system and a method that includes a robotic unit configured to deliver items (e.g., medicine, foodstuff, linens, equipment, etc.) to sites (e.g., rooms, offices, etc.) and/or individuals (e.g., patients, pharmacists, technician, etc.) throughout a facility (e.g., hospital, office building, mailroom, manufacturing facility, etc.). The robotic unit is a mobile unit that operates autonomously to follow predetermined or programmed routes throughout the facility to deliver the items. The system is configured to maintain a chain of custody for the items. In addition, the robotic unit is configured to only allow designated items to be delivered to designated sites and/or to authorized individuals. This can be achieved by the robotic unit having a plurality of containers that are locked within a storage space of the robotic unit, and are only accessible upon successful completion of an authorization process.

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Номер записи: 47
02-01-2020 дата публикации

FORKLIFT APPARATUS, FORKLIFT CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM

Номер: US20200002143A1
Автор: Fujishima Yasuo, Futahashi Kensuke, HASEGAWA Noriyuki, Kawauchi Naoto, Kinouchi Yusuke, Tsuruta Megumu
Принадлежит: MITSUBISHI HEAVY INDUSTRIES, LTD.

A forklift apparatus includes: an error prediction unit configured to predict a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet; a travel route correction unit configured to correct a travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked; and a conveyance travel control unit configured to perform travel control such that the pallet is conveyed along the corrected travel route. 1. A forklift apparatus comprising:an error prediction unit configured to predict a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet;a travel route correction unit configured to correct a travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked; anda conveyance travel control unit configured to perform travel control such that the pallet is conveyed along the corrected travel route.2. The forklift apparatus according to claim 1 , further comprising:a relative position angle detection unit configured to detect a relative position before picking-up between the standard position of the fork and the central position of the pallet before the pallet is picked up and a relative angle before picking-up with respect to the fork of the pallet,wherein the error prediction unit is configured to predict the first positional error and the first angle error based on the relative position before ...

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Номер записи: 48
03-01-2019 дата публикации

AUTOMATED STORAGE SYSTEM AND ROBOT FOR TRANSPORTING STORAGE BINS

Номер: US20190002255A1
Автор: Hognaland Ingvar
Принадлежит:

The present invention concerns an automated storage system and remotely operated vehicle or robot for picking up storage bins from a storage system. The inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use. The second direction (Y) is oriented perpendicular to the first direction (X). The inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body. 1. An automated storage system , comprising i. a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define storage columns for the storage of a plurality of vertically-stacked storage bins,', 'ii. supporting rails arranged in a two-dimensional matrix on top of the pillars, said supporting rails defining rolling tracks arranged in a first direction and a second direction orthogonal to the first direction, the supporting rails further defining openings for the storage columns,, 'a. a three-dimensional storage structure, comprising'} i. a vehicle body,', 'ii. a cavity arranged ...

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Номер записи: 49
13-01-2022 дата публикации

CONTROL DEVICE FOR WORK VEHICLE CONFIGURED TO TRAVEL AUTONOMOUSLY

Номер: US20220007563A1
Автор: MIYASHITA Shunsuke, SUGA Hiroki
Принадлежит:

A control device for a work vehicle configured or programmed to travel autonomously includes a vehicle position calculator to calculate a vehicle position, a travel direction calculator to calculate a travel direction that is a front-back direction of the vehicle body, a steering state detector to obtain data on a steering state, a vehicle position estimator to calculate an estimated vehicle position at which the work vehicle is to be present after performing predetermined travel from the vehicle position of the work vehicle, a deviation calculator to calculate a deviation of the work vehicle at the estimated vehicle position from the target travel path, a target steering amount calculator to calculate a target steering amount based on the deviation, and an autonomous travel controller to control steering based on the target steering amount. 111-. (canceled)12: A control device for a work vehicle configured to travel autonomously along a target travel path , the control device comprising:a vehicle position calculator to calculate a vehicle position of the work vehicle;a travel direction calculator to calculate a travel direction of the work vehicle, the travel direction being a front-back direction of a vehicle body of the work vehicle;a steering state detector to obtain data on a steering state of the work vehicle;a vehicle position estimator to calculate an estimated vehicle position at which the work vehicle is to be present after performing predetermined travel from the vehicle position of the work vehicle;a deviation calculator to calculate a deviation of the work vehicle at the estimated vehicle position from the target travel path;a target steering amount calculator to calculate a target steering amount based on the deviation; andan autonomous travel controller to control steering of the work vehicle based on the target steering amount.13: The control device according to claim 12 , further comprising:an estimated lateral deviation calculator to calculate an ...

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Номер записи: 50
07-01-2021 дата публикации

SELF-PROPELLED CONSTRUCTION MACHINE AND METHOD FOR CONTROLLING A SELF-PROPELLED CONSTRUCTION MACHINE

Номер: US20210002833A1
Автор: FRITZ Matthias
Принадлежит:

The invention relates to a self-propelled construction machine which has a drive means having a left and a right crawler track A, B, in particular a slipform paver, and to a method for controlling a self-propelled construction machine, in particular a slipform paver. The construction machine comprises a machine frame , a working means arranged on the machine frame, a crawler track A on the left in the working direction A and a crawler track B on the right in the working direction, and a drive means for driving the left crawler track at a predetermined chain speed and the right crawler track at a predetermined chain speed. In addition, the construction machine has a control unit which is configured such that, on the basis of the distance a between a front reference point with respect to the machine frame in the working direction A and a predetermined path , the chain speed of the left crawler track A and/or the chain speed of the right crawler track B is predetermined such that the front reference point moves on the predetermined path . The control unit is further configured such that, during cornering, the control is corrected on the basis of the distance b between a rear reference point with respect to the machine frame in the working direction and the predetermined path such that the distance between the rear reference point with respect to the machine frame in the working direction and the predetermined path reduces. 118-. (canceled)19. A self-propelled construction machine comprising:a machine frame;a working means arranged on the machine frame;a crawler track on the left in the working direction and a crawler track on the right in the working direction;a drive means for driving the left crawler track at a predetermined chain speed and the right crawler track at a predetermined chain speed, based on a distance between a front reference point with respect to the machine frame in the working direction and a predetermined path, the chain speed of the left crawler ...

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Номер записи: 51
07-01-2021 дата публикации

CONTROL SYSTEM FOR WORK VEHICLE, METHOD, AND WORK VEHICLE

Номер: US20210002870A1
Автор: Kure Kazuki, TAKAOKA Yukihisa
Принадлежит:

A work vehicle includes a work implement. A control system for the work vehicle includes a controller. The controller acquires work range data indicative of a work range. The controller determines a division distance by dividing an entire length of the work range by a predetermined number of divisions. The controller determines a plurality of starting positions so that the distance between each starting position matches the division distance in the work range. The controller generates an instruction signal to actuate the work implement from the plurality of starting positions. 1. A control system for a work vehicle including a work implement , the control system comprising: acquire work range data indicative of a work range;', 'determine a division distance by dividing an entire length of the work range by a predetermined number of divisions;', 'determine a plurality of starting positions so that a distance between each starting position matches the division distance in the work range; and', 'generate an instruction signal to actuate the work implement from the plurality of starting positions., 'a controller configured to'}2. The control system for the work vehicle according to claim 1 , whereinthe controller is further configured to determine the predetermined number of divisions in response to the entire length of the work range.3. The control system for the work vehicle according to claim 1 , wherein acquire a capability parameter indicative of a mechanical capability of the work vehicle, and', 'determine the predetermined number of divisions in response to the capability parameter., 'the controller is further configured to'}4. The control system for the work vehicle according to claim 1 , whereinthe work range includes a terminating end, andthe controller is further configured to determine positions spaced away from the terminating end by increments of the division distance as the plurality of starting positions in the work range.5. A method executed by a ...

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Номер записи: 52
05-01-2017 дата публикации

SYSTEM OF SELF-MOBILE CARTS WITH THEIR OWN NAVIGATION SYSTEM

Номер: US20170003682A1
Автор: SEGMAN Itamar, SEGMAN Yehonatan, Segman Yosef
Принадлежит:

A cart transportation system, comprising a one or more carts; a communication device incorporating a user controller that includes at least a transmitter unit, the user controller wirelessly transmitting electronic instructions to each cart controller or to a lead cart controller, each cart including a navigation system for sell-mobility in communication with the user controller, the navigation system including at least (i) a set of traction drivers for movement, (ii) a motor: and (iii) a cart controller including, a transmitter unit and receiver unit for transmitting and receiving electronic instructions so the cart controller of a particular cart defines and controls the particular cart to do at least one of (i) follow the communications device held or worn by a user; (ii) return to a base station; (iii) follow other carts of the one or more carts; and (iv) move from a first location to a second location. 1. A cart transportation system , comprising:one or more carts, each of the one or more carts configured to be not in physical contact with one another when the one or more carts are in motion during use of the system;a communication device incorporating a user controller, the user controller including at least a transmitter unit, the user controller for wirelessly transmitting electronic instructions via a communications protocol in at least one wavelength to either (i) each cart controller in the one or more carts or to (ii) a lead cart of the one or more carts, (i) a set of traction drivers for movement along a ground,', '(ii) a motor connected to the set of traction drivers for actuating the set of traction drivers and for turning at least one traction driver of the set of traction drivers; and', '(iii) a cart controller configured to be powered by an electric power supply, the cart controller also including a processor and software, a transmitter unit and a receiver unit, the cart controller of a particular cart of the one or more carts for controlling the ...

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Номер записи: 53
04-01-2018 дата публикации

Personalized Smart Navigation for Motor Vehicles

Номер: US20180003515A1
Автор: Ivan COUGHLAN, Laura Hunt, Stefan Saru, Swati SEHGAL
Принадлежит: Intel Corp

Embodiments are generally directed to personalized smart navigation for motor vehicles. An embodiment of a smart navigation system for a motor vehicle includes a plurality of sensors of the motor vehicle to detect internal conditions, external conditions, or both for a motor vehicle; a controller to receive sensor data from the plurality of sensors, the sensor data including vehicle condition data, external conditions data, or both; and a navigation system to determine a route for an operator of the motor vehicle. Determination of the route by the navigation system is based at least in part on current conditions data received from a plurality of sources, the current conditions data including the navigation data for the navigation system and sensor data from the plurality of sensors.

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Номер записи: 54
02-01-2020 дата публикации

REFERENCE LINE SMOOTHING METHOD USING PIECEWISE SPIRAL CURVES WITH WEIGHTED GEOMETRY COSTS

Номер: US20200003564A1
Автор: ZHANG Yajia
Принадлежит:

A first reference line representing a routing line from a first location to a second location associated with an autonomous driving vehicle (ADV) is received. The first reference line is segmented into a number of reference line segments. For each of the reference line segments, a quintic polynomial function is defined to represent the reference line segment. An objective function is determined based on the quintic polynomial functions of the reference line segments. An optimization is performed on coefficients of the quintic polynomial functions in view of a set of constraints associated with the reference line segments, such that an output of the objective function reaches minimum while the constraints are satisfied. A second reference line is then generated based on the optimized parameters or coefficients of the quintic polynomial functions of the objective function. The second reference line is then utilized to plan and control the ADV. 1. A computer-implemented method for operating an autonomous driving vehicle (ADV) , the method comprising:processing map data to generate a plurality of points that define a reference line along an ADV route from a first location to a second location, wherein each point includes a two dimensional (2D) coordinate and each consecutive pair of points form a reference line segment along the reference line;initializing optimization parameters, wherein the optimization parameters include a length of each reference line segment, a 2D coordinate of each point, a direction of each reference line segment, a curvature of each reference line segment, and a curvature change rate of each reference line segment; an output of an objective function is minimized, and', 'a set of constraints associated with the reference line segments are satisfied; and, 'iteratively optimizing the optimization parameters of the route such that'}generating a smooth reference line based on the optimized parameters, wherein the smooth reference line is utilized as ...

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Номер записи: 55
02-01-2020 дата публикации

CONTROLLING AN AUTONOMOUS VEHICLE BASED ON PASSENGER BEHAVIOR

Номер: US20200003570A1
Автор: BOULANGER Adam, KRATZ SVEN, MARTI Stefan, VERBEKE Joseph
Принадлежит:

An occupant sensor system is configured to collect physiological data associated with occupants of a vehicle and then use that data to generate driving decisions. The occupant sensor system includes physiologic sensors and processing systems configured to estimate the cognitive and/or emotional load on the vehicle occupants at any given time. When the cognitive and/or emotional load of a given occupant meets specific criteria, the occupant sensor system generates modifications to the navigation of the vehicle. In this manner, under circumstances where a human occupant of an autonomous vehicle recognizes specific events or attributes of the environment with which the autonomous vehicle maybe unfamiliar, the autonomous vehicle is nonetheless capable of making driving decisions based on those events and/or attributes. 1. A computer-implemented method for operating an autonomous vehicle , the method comprising:determining a first physiological response of a first occupant of an autonomous vehicle based on first sensor data;determining that the first physiological response is related to a first event outside of the autonomous vehicle; andmodifying at least one operating characteristic of the autonomous vehicle based on second sensor data that corresponds to the first event.2. The computer-implemented method of claim 1 , wherein capturing the first sensor data comprises recording at least one of a body position claim 1 , a body orientation claim 1 , a head position claim 1 , a head orientation claim 1 , a gaze direction claim 1 , a gaze depth claim 1 , a skin conductivity reading claim 1 , and a neural activity measurement.3. The computer-implemented method of claim 1 , wherein the first physiological response comprises at least one of an increase in cognitive load and an increase in emotional load.4. The computer-implemented method of claim 1 , wherein determining that the first physiological response is related to the first event comprises:determining a first position ...

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Номер записи: 56
02-01-2020 дата публикации

TOP-DOWN REFINEMENT IN LANE MARKING NAVIGATION

Номер: US20200003573A1
Автор: Ferencz Andras, Reisman Pinchas
Принадлежит:

Systems and methods use cameras to provide autonomous navigation features. In one implementation, top-down refinement in lane marking navigation is provided. The system may include one or more memories storing instructions and one or more processors configured to execute the instructions to cause the system to receive from one or more cameras one or more images of a roadway in a vicinity of a vehicle, the roadway comprising a lane marking comprising a dashed line, update a model of the lane marking based on odometry of the one or more cameras relative to the roadway, refine the updated model of the lane marking based on an appearance of dashes derived from the received one or more images and a spacing between dashes derived from the received one or more images, and cause one or more navigational responses in the vehicle based on the refinement of the updated model. 1one or more memories storing instructions, and receive from one or more cameras one or more images of a roadway in a vicinity of a vehicle, the roadway comprising a lane marking comprising a dashed line,', 'update a model of the lane marking based on odometry of the one or more cameras relative to the roadway,', 'refine the updated model of the lane marking based on an appearance of dashes derived from the received one or more images and a spacing between dashes derived from the received one or more images, and', 'cause one or more navigational responses in the vehicle based on the refinement of the updated model., 'one or more processors configured to execute the instructions to cause the system to. A computer system comprising: This application claims the benefit of U.S. Provisional Patent Application No. 62/010,003, filed Jun. 10, 2014, and U.S. Provisional Patent Application No. 62/173,216, filed Jun. 9, 2015, the entireties of which are incorporated herein by reference.This relates generally to autonomous driving and/or driver assist technology and, more specifically, to systems and methods that use ...

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Номер записи: 57
02-01-2020 дата публикации

COMPARATIVE PRIORITY AND TARGET DESTINATION BASED LANE ASSIGNMENT OF AUTONOMOUS VEHICLES

Номер: US20200003577A1
Автор: Kline Eric V., Rakshit Sarbajit K.
Принадлежит:

Embodiments include a computer-implemented method, system and computer-program product for performing a comparative priority and target destination based lane assignment is provided. Embodiments include determining a number of lanes available for lane assignment, receiving target destination information for one or more vehicles, and receiving vehicle information from the one or more vehicles. In addition, the embodiments include determining location information for the one or more vehicles, and assigning the one or more vehicles based at least in part on the target destination information and the vehicle information. 1. A computer-implemented method for a comparative priority and target destination based lane assignment , the computer-implemented method comprising:determining a number of lanes available for lane assignment to one or more vehicles;receiving target destination information for each of the one or more vehicles;receiving vehicle information associated with each of the one or more vehicles, wherein the vehicle information indicates at least one of vehicle identification information, vehicle type information, or passenger information;determining location information for each of the one or more vehicles; andassigning each of the one or more vehicles to a lane from the determined number of lanes available for lane assignment, based at least in part on the target destination information, the vehicle information, and the location information.2. The computer-implemented method of claim 1 , wherein assigning the one or more vehicles comprises assigning the one or more vehicles to a lane of a plurality of lanes.3. The computer-implemented method of claim 2 , wherein assigning the one or more vehicles comprises assigning the one or more vehicles to a position in an ordered sequence in a lane of the plurality of lanes.4. The computer-implemented method of claim 1 , wherein assigning the one or more vehicles to a position is based at least in part on a priority ...

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Номер записи: 58
13-01-2022 дата публикации

SYSTEMS, METHODS, COMPUTING PLATFORMS, AND STORAGE MEDIA FOR CONTROLLING AN AUTONOMOUS INVENTORY MANAGEMENT SYSTEM

Номер: US20220009715A1
Автор: Rongley Eric
Принадлежит:

Systems, methods, computing platforms, and storage media for controlling an autonomous inventory management system are disclosed. Exemplary implementations may: direct a first transport system to a first location; determine a respective drop off location for each of the one or more autonomous storage units; determine a boarding order for the one or more autonomous storage units based at least in part on the respective drop off location for each of the one or more autonomous storage units; direct the one or more autonomous storage units to board the first transport system at the first location; and transport the one or more autonomous storage units from the first location to the one or more respective drop off locations. 1. An autonomous inventory management system , the system comprising: 'direct a first transport system to a first location, wherein the first transport system is configured to transport one or more autonomous storage units from the first location, and wherein each of the one or more autonomous storage units comprises:', 'one or more hardware processors configured by machine-readable instructions toa housing,an inventory storage device physically coupled to the housing, and configured to transport at least one inventory item,a power device, wherein the power device is operationally configured to supply power to electrical components of the autonomous storage unit,a drive device in electrical communication with the power device, the drive device operationally configured to physically move the autonomous storage unit in one or more control territories, a navigation device operationally configured to transmit and receive geographic data and determine a physical location of the autonomous storage unit,', 'a sensing device operationally configured to detect physical objects and transmit and receive physical object data, and, 'and one or more ofa control device, wherein the control device is in electronic communication with the power device, the drive ...

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Номер записи: 59
07-01-2021 дата публикации

INFORMATION GENERATING APPARATUS AND METHOD OF CONTROLLING THE SAME

Номер: US20210003399A1
Автор: Dobashi Manabu, KURIYAGAWA Koji, YAMAKAWA HIROSHI
Принадлежит: HONDA MOTOR CO., LTD.

An information generating apparatus obtains usage state information about mobile bodies from the mobile bodies and maintenance information about the mobile bodies. The information generation apparatus estimates a maintenance time for each mobile body based on the usage state information and the maintenance information, determines, based on locations of the mobile bodies and the maintenance time estimated for each mobile body, a route by which a maintenance worker of the mobile bodies visits the locations of the mobile bodies, and generates route information including the route determined. The information generating apparatus specifies the mobile bodies of which the worker visits the locations based on whether the maintenance time estimated is within a first period. 1. An information generating apparatus comprising:one or more processors; anda memory storing instructions which, when the instructions are executed by the one or more processors, cause the image processing apparatus to function as:a usage state obtaining unit configured to obtain usage state information about mobile bodies from the mobile bodies;a maintenance information obtaining unit configured to obtain maintenance information about the mobile bodies;an estimating unit configured to estimate a maintenance time for each mobile body based on the usage state information and the maintenance information;a determining unit configured to determine, based on locations of the mobile bodies and the maintenance time estimated for each mobile body, a route by which a worker responsible for maintenance of the mobile bodies visits the locations of the mobile bodies; anda generating unit configured to generate route information including the route determined,wherein the determining unit specifies the mobile bodies of which the worker visits the locations based on whether the maintenance time estimated is within a first period.2. The information generating apparatus according to claim 1 , wherein the determining unit ...

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Номер записи: 60
07-01-2021 дата публикации

DETERMINING LOCALIZATION CONFIDENCE OF VEHICLES BASED ON CONVERGENCE RANGES

Номер: US20210003403A1
Автор: Schroeter Derik, Wheeler Mark
Принадлежит:

According to an aspect of an embodiment, operations may comprise for each of the set of geographic X-positions, accessing an HD map of a geographical region surrounding the geographic X-position, determining a convergence range for the geographic X-position, and storing the convergence range for the geographic X-position in the HD map. The operations may also comprise accessing the HD map, predicting a next geographic X-position of a target vehicle, predicting a covariance of the predicted next geographic X-position, accessing the convergence range for the geographic X-position in the HD map closest to the predicted next geographic X-position, estimating a current geographic X-position of the target vehicle by performing a localization algorithm, and determining a confidence value for the estimated current geographic X-position of the target vehicle based on the predicted next geographic X-position, the predicted covariance, and the accessed convergence range. 1. A computer-implemented method , comprising:accessing a set of geographic X-positions of one or more vehicles; accessing a high definition (HD) map of a geographical region surrounding the geographic X-position, the HD map comprising a three-dimensional (3D) representation of the geographical region,', 'determining a convergence range for the geographic X-position, and', 'storing the convergence range for the geographic X-position in the HD map;, 'for each of the set of geographic X-positionsaccessing the HD map;predicting a next geographic X-position of a target vehicle;predicting a covariance of the predicted next geographic X-position;accessing the convergence range for the geographic X-position in the HD map closest to the predicted next geographic X-position;estimating a current geographic X-position of the target vehicle by performing a localization algorithm; anddetermining a confidence value for the estimated current geographic X-position of the target vehicle based on the predicted next geographic X ...

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Номер записи: 61
07-01-2021 дата публикации

MOVING ROBOT AND CONTROL METHOD THEREOF

Номер: US20210003405A1
Автор: CHOI Jieun
Принадлежит:

Creating a map of a moving robot includes: receiving sensor data regarding a distance to an external object through a distance measurement sensor; creating a cell-based grid map based on the sensor data; performing image processing to distinguish between regions in the grid map and create a boundary line between the regions; selecting an optimal boundary line if one or more boundary lines exist; planning a path to the optimal boundary line; and updating the grid map, while moving along the path, whereby a map may be automatically created. 1. A method for creating a map by a moving robot , the method comprising:collecting sensor data by a sensor of the moving robot;creating a map based on the sensor data;performing image processing of the map to distinguish between regions in the map and to identify at least one boundary line between the regions;selecting a particular boundary line of the at least one boundary lines;moving along a path to the particular boundary line; andupdating the map based on additional sensor data collected while moving along the path.2. The method of claim 1 , wherein the regions in the map that are distinguished by performing image processing include a first region which is an empty space claim 1 , a second region in which an obstacle is detected by the sensor claim 1 , and a third region that has not been sensed by the sensor.3. The method of claim 2 , wherein performing image processing of the map includes:assigning a first color to the first region, a second color to the second region, and a third color to the third region, a difference between the first color of the first region and the third color of the third region being greater than differences between the second color of the second region and the first color and the third color, andidentifying, as the least one boundary line, at least one line segment between the first region and the third region.4. The method of claim 3 , wherein identifying the at least one line segment as the at ...

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Номер записи: 62
04-01-2018 дата публикации

ENVIRONMENTAL SENSING DEVICE AND INFORMATION ACQUIRING METHOD APPLIED TO ENVIRONMENTAL SENSING DEVICE

Номер: US20180003822A1
Автор: Fan Zongtao, Li Bo, Zhang Tianlei
Принадлежит:

Disclosed are embodiments of environmental sensing devices and information acquiring methods applied to environmental sensing devices. In some embodiments, an environmental sensing device includes a camera sensor, a laser radar sensor that are integrated, and a control unit. The control unit is connected simultaneously to the camera sensor and the laser radar sensor. The control unit is used for simultaneously entering a trigger signal to the camera sensor and the laser radar sensor. The design of integrating the camera sensor and the laser radar sensor avoids the problems such as poor contact and noise generation that easily occur in a high-vibration and high-interference vehicle environment, and can precisely trigger the camera sensor and the laser radar sensor simultaneously, so as to obtain high-quality fused data, thereby improving the accuracy of environmental sensing. As a result, the camera sensor and the laser radar sensor have a consistent overlapping field of view. 1. An environmental sensing device , comprising:an integrated camera sensor;a laser radar sensor; and 'wherein the control unit is configured to simultaneously enter a trigger signal to the camera sensor and the laser radar sensor so as to simultaneously trigger the camera sensor and the laser radar sensor to collect an image and laser point cloud data.', 'a control unit connected simultaneously to the camera sensor and the laser radar sensor,'}2. The environmental sensing device according to claim 1 , wherein the camera sensor and the laser radar sensor are rigidly connected.3. The environmental sensing device according to claim 2 , wherein trigger signal input terminals of the camera sensor and the laser radar sensor are connected to a single trigger signal input line so as to receive the trigger signal sent from the control unit through the trigger signal input line.4. The environmental sensing device according to claim 3 , wherein the control unit comprises:a clock subunit for generating ...

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Номер записи: 63
04-01-2018 дата публикации

ROTARY TYPE DISTANCE SENSING DEVICE

Номер: US20180003823A1
Автор: YAN Jason
Принадлежит:

The present invention discloses a rotary type distance sensing device is disclosed, wherein the rotary type distance sensing device comprises a driver to drive the linking structure to move and to enable the rotating mount to rotate; a control module fixed to rotating mount transmitting a measurement signal through a signal transmitter and receiving the reflected measurement signal through a signal receiver to obtain an environmental status data ; the control module analyzing the reflected measurement signal and transmitting the reflected measurement signal though a wireless transmitter, or the control module directly transmitting the reflected measurement signal along with data regarding the transmitted measurement signal through the wireless transmitter, thereby preventing a signal wire from being wound too tightly and tangled, and also preventing a slip ring structure from being worn out after long term use, and thus assuring the signal transmission quality. 1. A rotary type distance sensing device , comprising:a fixing base comprising a via and a positioning ring disposed coaxially, wherein the positioning ring is disposed around an outer rim of the via;a rotating mount pivotally connected to the fixing base;a linking structure driven by a driver to move and to enable the rotating mount to rotate;a control module disposed on the rotating mount, wherein the control module comprises at least one signal transmitter for transmitting a measurement signal and at least one signal receiver for receiving the reflected measurement signal to obtain an environmental status data and to calculate a distance.2. The rotary type distance sensing device as claimed in claim 1 , wherein the control module is disposed with a wireless transmitter at the bottom thereof; the wireless transmitter goes through the via of the fixing base to transmit the reflected measurement signal received by the signal transmitter to a wireless receiver disposed in the via.3. The rotary type distance ...

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Номер записи: 64
07-01-2021 дата публикации

Apparatus, Systems And Methods For Automatic Steering Guidance And Visualization Of Guidance Paths

Номер: US20210003416A1
Автор: Anagnostopoulos Trent, Bartlett Zach, Bruening Steve, Holoubek Joe, Myers Mike, Wilson David
Принадлежит:

The disclosed apparatus, systems and methods relate to guidance and visualization systems for autosteering systems of agricultural implements. The system allows the operator to visualize the guidance paths throughout a field map or region to allow for the ability of the operator to make adjustments prior to engaging the auto steering unit, such as to row headings and positions. 1. An agricultural vehicle guidance visualization system for use with an automatic steering unit , comprising:a) an operations unit;b) a display running a graphical user interface; and i) input one or more field boundaries for a polygonal field map;', 'ii) plot a plurality of guidance paths;', 'iii) display heading, position, and offset for the plurality of plotted guidance paths; and', 'iv) adjust the heading, position, and/or offset of the plurality of plotted guidance paths., 'c) a path system in operational communication with the operations unit and display, the path system configured to2. The system of claim 1 , wherein the path system is configured to command the automatic steering unit with the plurality of plotted guidance paths.3. The system of claim 2 , wherein the path system is configured to display and adjust the plurality of plotted guidance paths with at least one of an enterprise data adjustment claim 2 , a squaring adjustment claim 2 , or an offset adjustment.4. The system of claim 3 , wherein the squaring adjustment is configured to:a) determine a guidance path corner radius; andb) display a user prompt querying a square off option.5. The system of claim 1 , wherein the path system is configured to display field obstacles.6. The system of claim 1 , wherein the one or more field map boundaries are drawn from stored boundary map data.7. The system of claim 6 , wherein the path system is configured to populate the stored boundary map data with one or more additional boundary points.8. A visualization and guidance method for use with an agricultural vehicle automatic steering ...

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Номер записи: 65
07-01-2021 дата публикации

ROBOT MANAGEMENT SYSTEM, ROBOT MANAGEMENT METHOD, INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING PROGRAM

Номер: US20210003418A1
Автор: FUKUDOME Emi, HATAYAMA Kanako, KINNO Dai
Принадлежит: NEC Corporation

This invention provides an information processing apparatus for efficiently controlling multiple types of robots that move based on map data in different formats. This information processing apparatus includes an acquirer that acquires map data generated by at least one of the multiple types of robots that move based on map data in different formats indicating movable areas, respectively, a common map generator that generates, from the acquired map data, a common map for commonly managing movements of the multiple types of robots, and a specific map generator that generates, from the generated common map, multiple types of specific maps to be respectively used by the multiple types of robots.

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Номер записи: 66
02-01-2020 дата публикации

CALIBRATION OF LASER AND VISION SENSORS

Номер: US20200003878A1
Автор: Ma Lu, Wu Kanzhi
Принадлежит: SZ DJI TECHNOLOGY CO. LTD.

Automatic calibration between laser and vision sensors carried by a mobile platform, and associated systems and methods are disclosed herein. A representative method includes evaluating depth-based feature points obtained from the laser sensor with edge information obtained from the vision sensor and generating calibration rules based thereon. 1106-. (canceled)107. A computer-implemented method for generating a point cloud , the method comprising:obtaining observation data generated by at least one vision sensor, wherein the observation data corresponds to a time period;evaluating states associated with a laser unit at different points in time within the time period based at least on the observation data;determining one or more transformation rules for transforming between one or more reference systems and a target reference system associated with the laser unit, wherein the one or more reference systems are associated with the laser unit at the different points in time within the time period and the target reference system is associated with the laser unit at a target point in time within the time period;transforming data obtained by the laser unit based at least on the one or more transformation rules to the target reference system, the data obtained by the laser unit corresponding to the different points in time within the time period; andgenerating the point cloud using at least a portion of the transformed data.108. The method of claim 107 , wherein determining the one or more transformation rules further comprises:computing transformation matrices for the laser unit at the different points in time with respect to the target point in time, wherein each transformation matrix is computed using a corresponding state associated with the laser unit at a corresponding point in time.109. The method of claim 108 , wherein transforming data obtained by the laser unit based at least on the one or more transformation rules to the target reference system further comprises: ...

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Номер записи: 67
03-01-2019 дата публикации

METHOD AND SYSTEM FOR UPDATING MAPS BASED ON CONTROL FEEDBACKS OF AUTONOMOUS DRIVING VEHICLES

Номер: US20190003839A1
Автор: FU Xiaoxin, HE Jiarui, Hu Sen, KONG QI, Li Hongye, LUO QI, PAN Yuchang, WANG JINGAO, XIA Zhongpu, Yang Guang, YU Xiang, ZHAO Chunming, Zhu Fan, ZHU Zhenguang
Принадлежит:

In one embodiment, when an ADV is driving on a road segment, a driving parameter is recorded in response to a first control command. A difference between the first driving parameter and a target driving parameter corresponding to the first control command is determined. In response to determining that the difference exceeds a predetermined threshold, a second control command is issued to compensate the difference and cause the ADV to drive with a second driving parameter closer to the target driving parameter. A slope status of the road segment is derived based on at least the second control command. Map data of a map corresponding to the road segment of the road is updated based on the derived slope status. The updated map can be utilized to generate and issue proper control commands in view of the slope status of the road when the ADV drives on the same road subsequently. 1. A computer-implemented method for updating maps for autonomous driving , the method comprising:recording a first driving parameter of an autonomous driving vehicle (ADV) driving on a segment of a road in response to a first control command;determining a difference between the first driving parameter and a target driving parameter corresponding to the first control command;issuing a second control command to compensate and cause the ADV to drive with a second driving parameter closer to the target driving parameter, in response to determining that the difference exceeds a predetermined threshold;deriving a slope status of the segment of the road based on at least the second control command; andupdating map data of a map corresponding to the segment of the road based on the derived slope status.2. The method of claim 1 , wherein deriving a slope status of the segment of the road comprises:performing a lookup operation in a slope to command (slope/command) mapping table to search and locate a mapping entry that approximately matches the second control command and the target driving parameter; ...

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Номер записи: 68
07-01-2021 дата публикации

INTERACTIVE SENSOR CALIBRATION FOR AUTONOMOUS VEHICLES

Номер: US20210003683A1
Автор: CHEN CHEN, Huang Ziqiang
Принадлежит:

A method includes obtaining first user input identifying at least one LIDAR point in a set of LIDAR points associated with an object in an image, and obtaining second user input identifying the object in the image. The method may also include generating a constraint on a relationship between a LIDAR sensor used to capture the set of LIDAR points and a camera used to capture the image. The method may additionally include reducing a cost associated with the LIDAR point being inconsistent with the object in the image subject to the constraint. 1. A computer-implemented method , comprising:obtaining first user input identifying at least one light detection and ranging sensor (LIDAR) point in a set of LIDAR points associated with an object in an image;obtaining second user input identifying the object in the image;generating a constraint on a relationship between a LIDAR sensor used to capture the set of LIDAR points and a camera used to capture the image; andreducing a cost associated with the LIDAR point being inconsistent with the object in the image subject to the constraint.2. The computer-implemented method of claim 1 , further comprising:capturing the set of LIDAR points using the LIDAR sensor while driving; andcapturing the image using the camera while driving.3. The computer-implemented method of claim 1 , further comprising overlaying a user guidance on the image to facilitate at least one of the first user input and the second user input.4. The computer-implemented method of claim 3 , wherein the user guidance includes visual indicators of whether a given point of the set of LIDAR points is within the object or outside of the object.5. The computer-implemented method of claim 3 , wherein the user guidance includes visual indicators of regions within a view of a user interface claim 3 , and for which of the regions additional constraints are requested.6. The computer-implemented method of claim 1 , further comprising at least one of:enhancing the identifying of ...

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Номер записи: 69
04-01-2018 дата публикации

SYSTEM AND METHOD FOR DETERMINING AN ENERGY-EFFICIENT PATH OF AN AUTONOMOUS DEVICE

Номер: US20180004198A1
Автор: DABROWSKI Bartosz
Принадлежит:

A method for determining an energy-efficient path of an autonomous device wherein said autonomous device moves over a global grid of cells into which a given operating area has been split, the method being characterized in that determination of said energy-efficient path comprises the steps of: processing of the current cell (); taking a measurement σ of the processing (); classifying the measurement σ to be of a particular level Σ (), taking into account a predefined division, of the measurements results range, into a plurality of measurements levels; storing said classified measurement in a memory of the autonomous device () and associating it with the current cell; selecting a reference probability grid (); updating () the probabilities by applying the reference grid () to the global grid at its current position such that every cell on the reference grid () corresponds unambiguously to one cell on the global grid; 1. A method for determining an energy-efficient path of an autonomous device wherein said autonomous device moves over a global grid of cells into which a given operating area has been split , the method being characterized in that determination of said energy-efficient path comprises the steps of:{'b': '201', 'processing of the current cell ();'}{'b': '202', 'taking a measurement σ of the processing ();'}{'b': '203', 'classifying the measurement σ to be of a particular level Σ (), taking into account a predefined division, of the measurements results range, into a plurality of measurements levels;'}{'b': '204', 'storing said classified measurement in a memory of the autonomous device () and associating it with the current cell;'}{'b': 205', '202', '103', '103', '100', '103, 'selecting a reference probability grid () wherein values in the cells of the reference grid express a probability that the measurement of the processing () will be the same in its respective cell as it is in the current cell (), which represents the current position of the ...

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Номер записи: 70
04-01-2018 дата публикации

SELF-CALIBRATING SENSORS AND ACTUATORS FOR UNMANNED VEHICLES

Номер: US20180004200A1
Автор: GARIEPY Ryan Christopher, Ma Yan, Mukherjee Prasenjit, SHEHATA Kareem, THOMAS Teyvonia, TOD Anthony
Принадлежит:

An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value. 1. An unmanned vehicle comprising:a communication interface; and in a guided calibration mode, while controlling the propulsion system according to commands received via the communications interface from an external guided control system, process the sensor data to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;', 'automatically switch operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode;', while automatically controlling the propulsion system to move the chassis, collecting the sensor data from the one or more sensors; and,', 'further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration; and,, 'thereafter, operate the propulsion system in the autonomous calibration mode by, ' ...

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Номер записи: 71
04-01-2018 дата публикации

SYSTEMS FOR AUTONOMOUS VEHICLE ROUTE SELECTION AND EXECUTION

Номер: US20180004211A1
Автор: Bai Fan, Deng Bing, Grimm Donald K., Wang Jenne-Tai
Принадлежит:

A system for determining and executing an autonomous-vehicle vehicle travel route, including a hardware-based processing unit and a non-transitory computer-readable storage medium. The storage medium includes an input-interface module that, when executed by the hardware-based processing unit, obtains factor data indicating factors relevant to determining a vehicle travel route. The storage medium also includes a route-generation module comprising a route-complexity sub-module. The route-complexity sub-module determines, based on the factor data, route-complexity indexes corresponding to respective optional routes. The route-generation module determines the vehicle travel route based on the route-complexity indexes. The storage in various embodiments includes other sub-modules associated with other elements, such as autonomous-driving safety, comfort, stress, pollution, scenery, or infrastructure-accessibility, for determining and executing an autonomous-driving travel route. In some embodiments, the storage includes an autonomous-driving perceptions module and an autonomous-driving control module for modifying vehicle functions in executing the autonomous-driving travel route. 1. A system comprising:a hardware-based processing unit; and an input-interface module that, when executed by the hardware-based processing unit, obtains factor data indicating one or more factors relevant to determining a vehicle travel route; and', the route-complexity sub-module, when executed by the hardware-based processing unit, determines, based on the factor data, one or more route-complexity indexes corresponding to one or more respective optional routes; and', 'the route-generation module, when executed by the hardware-based processing unit, determines the vehicle travel route based on at least the route-complexity indexes., 'a route-generation module comprising a route-complexity sub-module, wherein], 'a non-transitory computer-readable storage medium comprising2. The system of ...

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Номер записи: 72
04-01-2018 дата публикации

Guide-Type Virtual Wall System

Номер: US20180004212A1
Автор: TANG Jinju
Принадлежит:

A guide-type virtual wall system is provided. The system comprises a beacon () and a robot (), wherein a transmission module of the beacon () directionally transmits a first signal, and an area covered by the first signal defines a beacon signal area (). The robot () comprises a beacon signal receiving module corresponding to the beacon signal transmission module. When the robot () enters the beacon signal area () and the beacon signal receiving module detects the first signal, the robot () advances towards the direction of the beacon () until it detects a second signal, and then the robot () crosses over or exits from the beacon signal area (). The system can restrict the robot () from entering a certain area, wherein the area where a virtual wall is located is not missed, and the robot () is also enabled to cross over the virtual wall to enter the restricted area when required. 11112111312. A guide-type virtual wall system comprising a beacon () and a robot () , a transmission module of the beacon () directionally transmitting a first signal , an area covered by the first signal defining a beacon signal area () , and the robot () comprising a beacon signal receiving module corresponding to the beacon signal transmission module , characterized in that ,{'b': 12', '13', '12', '11', '12', '13, 'when the robot () enters the beacon signal area () and the beacon signal receiving module detects the first signal, the robot () advances towards the direction of the beacon () until it detects a second signal, and then the robot () crosses over or exits from the beacon signal area ().'}2. A guide-type virtual wall system according to claim 1 , characterized in that claim 1 , the beacon signal transmission module is provided with a plurality of sub-signal transmission modules claim 1 , and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other.3. A guide-type virtual wall system according to claim 2 , characterized in that ...

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Номер записи: 73
04-01-2018 дата публикации

PATH PLANNING OF AN AUTONOMOUS VEHICLE FOR KEEP CLEAR ZONES

Номер: US20180004215A1
Автор: Ghose Shiva, GROSS DREW, Miller Nicholas
Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: identifying, by a processor, at least one keep clear zone having a beginning and an ending within a roadway; determining, by a processor, if a speed of the vehicle is expected to be below a threshold when a position of the vehicle is expected to be within the keep clear zone; creating, by a processor, a stop point associated with the keep clear zone based on the determining; generating, by a processor, advice to a path planner based on the stop point; generating, by a processor, a path plan based on the stop point; and controlling, by a processor, the vehicle based on the path plan. 1. A method of controlling a vehicle , comprising:identifying, by a processor, at least one keep clear zone having a beginning and an ending within a roadway;determining, by a processor, if a speed of the vehicle is expected to be below a threshold when a position of the vehicle is expected to be within the keep clear zone;creating, by a processor, a stop point associated with the keep clear zone based on the determining;generating, by a processor, advice to a path planner based on the stop point;generating, by a processor, a path plan based on the stop point; andcontrolling, by a processor, the vehicle based on the path plan.2. The method of claim 1 , further comprising associating a lane of an expected path plan with the keep clear zone claim 1 , and wherein the creating the stop point is based on the lane of the expected path plan.3. The method of claim 1 , wherein the determining if the speed of the vehicle is expected to be below the threshold comprises determining if a future speed of the vehicle is expected to be below the threshold based on a current speed and current position of the vehicle.4. The method of claim 1 , wherein the determining if the position of the vehicle is expected to be within the keep clear zone comprises determining if a future position of the vehicle is expected ...

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Номер записи: 74
04-01-2018 дата публикации

Method for Mapping a Processing Area for Autonomous Robot Vehicles

Номер: US20180004217A1
Автор: Becker Hannes, Biber Peter, HENSEL Stefan
Принадлежит:

The disclosure relates to a method for mapping a processing area, in particular for determining a processing area, as part of a navigation method for autonomous robot vehicles. According to the disclosure, said method is characterized in that boundary lines between adjoining mapped and unmapped subareas of the processing area that is to be mapped are identified by comparing distances traveled by the robot vehicle during an initial mapping trip within the processing area, mapping of an unmapped subarea adjoining a boundary line is initiated from a point on one of those identified boundary lines during another mapping trip of the robot vehicle into the unmapped subarea, and a map of the processing area is created on the basis of the subareas mapped by the robot vehicle. 1. A method for mapping a processing area as part of a navigation of an autonomous robot vehicle , the method comprising:identifying boundary lines between adjoining mapped subareas and unmapped subareas of the processing area to be mapped by comparing distances covered by the robot vehicle traveling over the processing area during on an initial mapping trip of the robot vehicle;initiating a mapping of an unmapped subarea adjoining a first boundary line of the identified boundary lines from a first point on the first boundary line during a further mapping trip of the robot vehicle into the unmapped subarea andgenerating a map of the processing area based on the subareas mapped by the robot vehicle.2. The method as claimed in claim 1 , wherein the initial mapping trip and the further mapping trip are connected by way of a transfer trip of the robot vehicle.3. The method as claimed in claim 1 , the identifying further comprising:identifying a respective boundary line of the boundary lines between adjoining mapped subareas and unmapped subareas in response to distances covered by the robot vehicle on paths lying next to one another differing from one another by at least one of a relative amount and an ...

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Номер записи: 75
04-01-2018 дата публикации

APPARATUS FOR GUIDING AN AUTONOMOUS VEHICLE TOWARDS A DOCKING STATION

Номер: US20180004219A1
Автор: ALDRED Michael David, EDWARDS-PARTON Simon
Принадлежит: Dyson Technology Limited

An apparatus for guiding an autonomous vehicle towards a docking station including an autonomous vehicle with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system. The apparatus includes a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, wherein the control system is operable to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the base station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers. 1. A docking station for an autonomous vehicle , the docking station comprising a main body having a first fiducial marker and a second fiducial marker spaced a predetermined distance from the first fiducial marker.2. The docking station of claim 1 , wherein the first fiducial marker and the second fiducial marker are located on a display portion of the docking station that is in a substantially upright orientation when the docking station is placed on a floor surface.3. The docking station of claim 2 , wherein the display portion of the docking station is planar.4. The docking station of claim 2 , wherein the display portion is pivotable with respect to a base portion of the docking station.5. The docking station of claim 2 , wherein each of the first and second fiducial markers defines a pattern claim 2 , and wherein the pattern of the first fiducial marker is the same as the pattern of the second fiducial marker.6. The docking station of claim 2 , wherein each of the first and second fiducial markers ...

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Номер записи: 76
04-01-2018 дата публикации

AUTONOMOUS GUIDANCE SYSTEM

Номер: US20180004220A1
Автор: Hazelton Lawrence Dean
Принадлежит:

An autonomous guidance system that operates a vehicle in an autonomous mode includes a camera module, a radar module, and a controller. The camera module outputs an image signal indicative of an image of an object in an area about a vehicle. The radar module outputs a reflection signal indicative of a reflected signal reflected by the object. The controller determines an object-location of the object on a map of the area based on a vehicle-location of the vehicle on the map, the image signal, and the reflection signal. The controller classifies the object as small when a magnitude of the reflection signal associated with the object is less than a signal-threshold. 1. An autonomous guidance system that operates a vehicle in an autonomous mode , said system comprising:a camera module that outputs an image signal indicative of an image of an object in an area about a vehicle;a radar module that outputs a reflection signal indicative of a reflected signal reflected by the object; anda controller that determines an object-location of the object on a map of roadways proximate to the area based on a vehicle-location of the vehicle on the map, the image signal, and the reflection signal, wherein the controller classifies the object as small when a magnitude of the reflection signal associated with the object is less than a signal-threshold, and the object is not indicated on the map.2. The system in accordance with claim 1 , wherein the controller classifies the object as verified if the object is classified as small and the object is detected a plurality of occasions that the vehicle passes through the area.3. The system in accordance with claim 2 , wherein the controller adds the object to the map after the object is classified as verified.4. The system in accordance with claim 1 , wherein the controller determines a size of the object based on the image signal and the reflection signal claim 1 , and classifies the object as verified if the object is classified as small ...

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Номер записи: 77
04-01-2018 дата публикации

Autonomous guidance system

Номер: US20180004221A1
Автор: Lawrence Dean Hazelton
Принадлежит: Aptiv Technologies Ltd

An autonomous guidance system that operates an automated vehicle in an autonomous mode includes a camera module, a radar module, and a controller. The camera module outputs an image signal indicative of an image of an object in an area about a vehicle. The radar module outputs a reflection signal indicative of a reflected signal reflected by the object. The controller generates a map of the area based on a vehicle-location of the vehicle, the image signal, and the reflection signal, wherein the controller classifies the object as small when a magnitude of the reflection signal associated with the object is less than a signal-threshold.

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Номер записи: 78
04-01-2018 дата публикации

METHOD AND APPARATUS FOR CONTROLLING AN AUTONOMOUS VEHICLE

Номер: US20180004223A1
Автор: Baldwin Craig A.
Принадлежит:

Aspects of the disclosure relate generally to controlling an autonomous vehicle in a variety of unique circumstances. These include adapting control strategies of the vehicle based on discrepancies between map data and sensor data obtained by the vehicle. These further include adapting position and routing strategies for the vehicle based on changes in the environment and traffic conditions. Other aspects of the disclosure relate to using vehicular sensor data to update hazard information on a centralized map database. Other aspects of the disclosure relate to using sensors independent of the vehicle to compensate for blind spots in the field of view of the vehicular sensors. Other aspects of the disclosure involve communication with other vehicles to indicate that the autonomous vehicle is not under human control, or to give signals to other vehicles about the intended behavior of the autonomous vehicle. 113-. (canceled)14. A method comprising:controlling, by one or more computing devices, an autonomous vehicle;receiving by one or more computing devices map data corresponding to a planned route of said vehicle;developing by one or more computing devices a lane selection strategy based on the planned route;receiving by one or more computing devices sensor data from said vehicle indicative of surrounding vehicles in the vicinity of said vehicle; andchanging said lane selection strategy based on said surrounding vehicles.15. The method of claim 14 , including:driving said autonomous vehicle on a multi-lane road;determining by one or more computing devices a desired exit point from the multi-lane road;wherein said lane selection strategy includes a target distance from said exit point at which a lane change protocol should begin; andwherein said step of changing said lane selection strategy includes changing said target distance.16. The method of claim 14 , including:calculating with said one or more computing devices a traffic density based on said sensor data; ...

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Номер записи: 79
02-01-2020 дата публикации

APPARATUS AND METHOD FOR VIRTUAL HOME SERVICE

Номер: US20200004237A1
Автор: KIM Hyun Soo, KIM Sun Yup, Park Hyun Sang, Shin Dong Heon, SHIN KYUNG JUN
Принадлежит:

An embodiment of the present disclosure is a virtual home service apparatus including, a communicator, a home information collector for obtaining a design drawing of the home, and obtaining a 3D drawing by converting the design drawing, a home appliance identifier for obtaining an internal image and SLAM information of the home, and identifying the location and state of the home appliance based on the internal image and the SLAM information, and a virtual home implementator for generating virtual home information by reflecting the location and state of the home appliance to the 3D drawing. 1. A virtual home service apparatus for providing data for supporting a virtual home interface to a vehicle apparatus for providing the virtual home interface for controlling an operation of a home appliance installed in a home , comprising:a communicator;a home information collector for obtaining a design drawing of the home through the communicator based on user identification information of the home appliance, and obtaining a 3D drawing by converting the design drawing;a home appliance identifier for obtaining an internal image and SLAM information of the home through the communicator, and identifying the location and state of the home appliance based on the internal image and the SLAM information; anda virtual home implementator for generating virtual home information by reflecting the location and state of the home appliance to the 3D drawing,wherein the virtual home information is provided to the vehicle apparatus as the data for supporting the virtual home interface.2. The virtual home service apparatus of claim 1 ,wherein the home information collector generates a design drawing request signal that requests the design drawing by using an address registered at the time of sale of the home appliance as the user identification information, and transmits the generated design drawing request signal to a real estate brokerage server through the communicator, andwherein the ...

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Номер записи: 80
02-01-2020 дата публикации

REMOTE SYSTEM FOR AN AUTONOMOUS VEHICLE

Номер: US20200004239A1
Автор: ALLAN Mark, ANGQUIST Andrea, CHRISTEL Ben, DELLA PENNA Mauro, DENISTON John, ENLOW Richard, GUERIN Armelle, HAMON Jen, HOGAN Shane, JALUKAR Sannidhi, KOBASHI Atsuhide, LEES David, Mortazavi Ali, Pedersen Liam, Salloum Richard, SCHAFER Eric, Sierhuis Maarten, Thakur Siddharth, WHEELER Dawn, WU Stephen
Принадлежит:

A remote system for an autonomous vehicle, includes a receiver, a controller, and a display device. The receiver is configured to receive road information. The controller is programmed to receive input related to the road information and create a supervision zone when the road information impacts road drivability. The display device is disposed at a control center area and configured to display a visual indication on a map of the supervision zone. 1. A remote system for an autonomous vehicle , comprising:a non-moveable receiver remote from the autonomous vehicle and configured to receive road information;a controller programmed to receive input related to the road information and create a supervision zone when the road information impacts road drivability; anda display device disposed at a control center area and configured to display a visual indication on a map of the supervision zone.2. The remote system of claim 1 , whereinthe input is received by the controller directly from the receiver and the controller is programmed to determine whether the road information impacts road drivability.3. The remote system of claim 1 , whereinthe input is received by the controller from a user input.4. The remote system of claim 1 , whereinthe controller is programmed to remove the visual indication of the supervision zone after a predetermined amount of time.5. The remote system of claim 1 , whereinthe controller is programmed to receive user input to remove the visual indication of the supervision zone.6. The remote system of claim 1 , whereinthe receiver is configured to receive an emergency vehicle signal, and the controller is programmed to determine that the emergency vehicle signal is road information that impacts road drivability.7. The remote system of claim 1 , whereinthe controller is programmed to receive input data enabling a route to be created to avoid the supervision zone.8. The remote system of claim 7 , further comprisinga transmitter configured to transmit ...

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Номер записи: 81
02-01-2020 дата публикации

Method and System for Remotely Controlling a Vehicle

Номер: US20200004240A1
Автор: BIEHLER Martin, GEIGENFEIND Mario, PETERS Bardo
Принадлежит:

A method of remotely controlling a vehicle involves creating an exterior situation image for the vehicle () using a sensor system () for detecting the surroundings of the vehicle. A trajectory of the vehicle is specified by a driver assistance system () of the vehicle. The exterior situation image and the trajectory are transmitted wirelessly to a remote control () that is arranged spatially separately from the vehicle. The vehicle is controlled by the remote control based on the trajectory and the exterior situation image. 1. A method of remotely controlling a vehicle , the method comprising steps:creating an exterior situation image for the vehicle using a sensor system that detects surroundings of the vehicle;specifying a trajectory for the vehicle using a driver assistance system of the vehicle;wirelessly transmitting the exterior situation image and the trajectory from the vehicle to a remote control that is arranged spatially separately from the vehicle; andcontrolling the vehicle by the remote control based directly or indirectly on at least the trajectory and the exterior situation image.2. The method according to claim 1 , wherein the step of controlling the vehicle comprises using an operating element of the remote control.3. The method according to claim 1 , further comprising correcting trajectory by the remote control to produce a corrected trajectory claim 1 , and wherein the controlling of the vehicle by the remote control is based on the corrected trajectory and the exterior situation image.4. The method according to claim 3 , further comprising transmitting a supplementary image of the surroundings of the vehicle to the remote control claim 3 , and wherein the correcting of the trajectory by the remote control is based on the exterior situation image and the supplementary image.5. The method according to claim 1 , further comprising continuously determining a quality of a data link for the wireless transmitting from the vehicle to the remote control ...

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Номер записи: 82
02-01-2020 дата публикации

TELEOPERATION SYSTEM AND METHOD FOR TRAJECTORY MODIFICATION OF AUTONOMOUS VEHICLES

Номер: US20200004241A1
Автор: Gamara Rachad Youssef, Kentley-Klay Timothy David, Levinson Jesse Sol, Linscott Gary, Rege Ashutosh Gajanan, Sibley Gabriel Thurston
Принадлежит:

Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. More specifically, systems, devices, and methods are configured to initiate modification of trajectories to influence navigation of autonomous vehicles. In particular, a method may include receiving a teleoperation message via a communication link from an autonomous vehicle, detecting data from the teleoperation message specifying an event associated with the autonomous vehicle, identifying one or more courses of action to perform responsive to detecting the data specifying the event, and generating visualization data to present information associated with the event to a display of a teleoperator computing device. 1. An autonomous vehicle comprising:one or more sensors;a communication interface configured to establish a communications link with a remote computing device;one or more processors; and receiving sensor data from the one or more sensors;', 'determining one or more attributes of the communications link;', 'generating an abstraction of the sensor data;', 'transmitting, based at least in part on the one or more attributes, one or more of the sensor data or the abstraction of the sensor data to a teleoperator system;', 'receiving, from the teleoperator system, a teleoperator command; and', 'controlling, based at least in part on the teleoperator command, the autonomous vehicle., 'memory storing processor-executable instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform operations comprising2. The autonomous vehicle of claim 1 , wherein the sensor data comprises a first representation of a plurality of objects in an environment of the autonomous vehicle and the abstraction comprises a second representation of a subset of the plurality of objects in the environment ...

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Номер записи: 83
02-01-2020 дата публикации

METHOD FOR MANAGING DRIVE OF VEHICLE IN AUTONOMOUS DRIVING SYSTEM AND APPARATUS THEREOF

Номер: US20200004242A1
Автор: KIM Soryoung
Принадлежит:

Disclosed herein are a method and an apparatus for managing a vehicle in an autonomous driving system. The operating method of a server for managing the drive of the vehicle in the autonomous driving system includes collecting data on a dangerous drive of a danger candidate vehicle from a plurality of vehicles, determining whether the danger candidate vehicle is a dangerous vehicle or not on the basis of the data on the dangerous drive and information about a driving environment of the danger candidate vehicle, and performing an operation responding to a dangerous driving cause of the danger candidate vehicle if the danger candidate vehicle is the dangerous vehicle. The above-described method makes it possible to monitor a dangerously driving vehicle and thus take appropriate measures against the dangerously driving vehicle. One or more of an autonomous vehicle, a user terminal and a server of the present disclosure can be associated with artificial intelligence modules, drones (unmanned aerial vehicles (UAVs)), robots, augmented reality (AR) devices, virtual reality (VR) devices, devices related to 5G service, etc. 1. An operating method of a server for managing a drive of a vehicle in an autonomous driving system , comprising:collecting data on a dangerous drive of a danger candidate vehicle from a plurality of vehicles;determining whether the danger candidate vehicle is a dangerous vehicle or not on the basis of the data on the dangerous drive and information about a driving environment of the danger candidate vehicle; andperforming an operation responding to a dangerous driving cause of the danger candidate vehicle if the danger candidate vehicle is the dangerous vehicle.2. The operating method of claim 1 , wherein the collecting of the data on the dangerous drive comprises:receiving vehicle information of the danger candidate vehicle and dangerous drive information of the danger candidate vehicle from the plurality of vehicles.3. The operating method of claim 2 ...

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Номер записи: 84
02-01-2020 дата публикации

Systems and methods for determining whether a vehicle is capable of navigating an intersection in an autonomous driving mode

Номер: US20200004243A1
Автор: Ryan M. Wiesenberg
Принадлежит: Toyota Motor Engineering and Manufacturing North America Inc

Systems, methods, and other embodiments for determining whether a vehicle is capable of navigating an intersection in an autonomous driving mode are disclosed. One embodiment detects that a vehicle traveling on a first roadway is approaching an intersection of the first roadway with a second roadway; detects, during one or more layer drives, one or more moving objects traveling on the second roadway; estimates the profile of each of one or more sensor obstructions situated in a non-roadway region abutting the intersection based on the detected one or more moving objects; combines, for each sensor obstruction, the profile estimates obtained from one or more layer drives to produce a composite estimate of the profile of that sensor obstruction; and determines, based at least in part on one or more composite profile estimates, whether navigating the intersection in an autonomous driving mode of the vehicle is achievable.

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Номер записи: 85
02-01-2020 дата публикации

HANDLING RIDER SERVICE AT AUTONOMOUS VEHICLES

Номер: US20200004245A1
Автор: Rychtyckyj Nestor, Yang Hao Howard
Принадлежит: FORD GLOBAL TECHNOLOGIES, LLC

The present disclosure extends to methods, systems, and computer program products for handling rider service at autonomous vehicles. Aspects of the disclosure use a task planning artificial intelligence (AI) framework to improve rider services provided at autonomous vehicles (AV). The AI framework uses tasking priorities and historical data-based machine learning to provide improved services, such as, passenger pickup, passenger drop off, etc. at an autonomous vehicle. A vehicle service is modeled as a Virtual Chauffer Agent (VCA) that acts independently and reacts in an environment to pursue delegated goals. The VCA can interoperate with a Virtual Driving System (VDS) to control an autonomous vehicle and transport a rider between locations. The VCA can interact with other agents (e.g., weather, traffic, map, etc.) to address rider service issues. 1. A method performed by an autonomous vehicle , the method comprising:determining that a first priority rank of a first rider service task of a task stack is higher than a second priority rank of a second rider service task of the task stack, wherein the first rider service task and the second rider service task are tasks that can be performed by the autonomous vehicle;determining the first rider service task from the task stack;determining that a fact from a fact stack at the vehicle satisfies a task condition of the first rider service task; andperforming the first rider service task by changing a configuration of the autonomous vehicle.2. The method of claim 1 , wherein determining the first rider service task from the task stack comprises accessing the first rider service task that is a sub-task of a third rider service task.3. The method of claim 2 , further comprising receiving the second rider service task from a Transportation as a Service (TaaS) scheduling system.4. The method of claim 3 , wherein receiving the second rider service task from the TaaS scheduling system comprises receiving a task to drive to a ...

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Номер записи: 86
02-01-2020 дата публикации

CONTROLLING MOVEMENT OF AUTONOMOUS DEVICE

Номер: US20200004247A1
Автор: De Castro Lourenço Barbosa, Jacobsen Niels Jul, Nielsen Søren Eriksen
Принадлежит:

An example system includes an autonomous device. The system includes a movement assembly to move the autonomous device, memory storing information about classes of objects and storing rules governing operation of the autonomous device based on a class of an object in a path of the autonomous device, one or more sensors to detect at least one attribute of the object, and one or more processing devices. The one or more processing devices determine the class of the object based on the at least one attribute, execute a rule to control the autonomous device based on the class, and control the movement assembly based on the rule. 1. A system comprising an autonomous device , the system comprising:a movement assembly to move the autonomous device;memory storing information about classes of objects and storing rules governing operation of the autonomous device based on a class of an object in a path of the autonomous device;one or more sensors configured to detect at least one attribute of the object; and determining the class of the object based on the at least one attribute;', 'executing a rule to control the autonomous device based on the class; and', 'controlling the movement assembly based on the rule;, 'one or more processing devices to perform operations comprisingwherein, in a case that the object is classified as an animate object, the rule to control the autonomous device comprises instructions for determining a likelihood of a collision with the object and for outputting an alert based on the likelihood of the collision.2. The system of claim 1 , wherein the classes of objects and rules are stored in the form of a machine learning model.3. The system of claim 1 , wherein claim 1 , in a case that the object is classified as an animate object claim 1 , the rule to control the autonomous device comprises instructions for:controlling the movement assembly to change a speed of the autonomous device;detecting attributes of the object using the one or more sensors; ...

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Номер записи: 87
02-01-2020 дата публикации

PLANNING DRIVEN PERCEPTION SYSTEM FOR AUTONOMOUS DRIVING VEHICLES

Номер: US20200004251A1
Автор: KONG QI, Zhu Fan
Принадлежит:

A perception perceives a driving environment surrounding an ADV based on sensor data obtained from a variety of sensors. Based on the perception data received from the perception module, a planning module is to plan a trajectory for a current driving cycle to drive the ADV. In addition, the planning module determines a driving intent and one or more regions of interest (ROIs) surrounding the ADV based on the trajectory. The driving intent and the ROIs information is then provided to the perception module as a feedback. The perception module can then processing the sensor data from selective sensors to generate the perception data for a next driving cycle. The selected sensors may be determined and selected based on the driving intent and the ROIs, such that the sensor data of the unrelated sensors may be ignored to reduce the computation cost of the perception module. 1. A computer-implemented method for operating an autonomous driving vehicle , the method comprising:receiving, by a planning module, first perception data from a perception module, the first reception data describing a driving environment surrounding an autonomous driving vehicle (ADV);planning, by the planning module, a trajectory for a current driving cycle based on the first perception data to drive the ADV from a first location to a second location;determining a driving intent and one or more regions of interest (ROIs) surrounding the ADV based on the trajectory;transmitting the driving intent and the ROIs to the perception module via an application programming interface (API);generating, by the perception module, second perception data for a next driving cycle based on the driving intent and the ROIs; andselectively processing sensor data from certain sensors associated with the ADV based on the driving intent and the ROIs.2. The method of claim 1 , wherein the driving intent is one of following lane claim 1 , changing lane claim 1 , at intersection claim 1 , nudging to left claim 1 , nudging to ...

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Номер записи: 88
02-01-2020 дата публикации

Systems and methods for transporting containers with a vehicle

Номер: US20200004252A1
Автор: Elias ALJALLIS, Ronald S. Kyslinger, Vikranth GOPALAKRISHNAN
Принадлежит: Walmart Apollo LLC

Among other things, a vehicle for transporting containers is disclosed. The vehicle can include a base, a rack, and at least one container. The base can include a platform, wheels, and a motor for driving one or more of the wheels. The rack can be mounted to the platform. The rack can include at least one rail. The at least one rail can include a channel defined therein and an end coupling for linking the at least one rail with an external rail. The at least one container can be configured to connect with the at least one rail and include a connection assembly. At least a portion of the connection assembly can be moveably disposed in the channel.

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Номер записи: 89
02-01-2020 дата публикации

SYSTEMS AND METHODS FOR DYNAMIC ROUTE PLANNING IN AUTONOMOUS NAVIGATION

Номер: US20200004253A1
Автор: Gabardos Borja Ibarz, Passot Jean-Baptiste
Принадлежит:

Systems and methods for dynamic route planning in autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route poses can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route. 1. A robot comprising:one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment; and create a map of the environment based at least in part on the collected data;', 'determine a route in the map in which the robot will travel;', 'generate one or more route poses on the route, wherein each route pose comprises a footprint indicative of poses of the robot along the route and each route pose has a plurality of points disposed therein;', 'determine forces on each of the plurality of points of each route pose, the forces comprising repulsive forces from one or more of the detected points on the one or more objects and attractive forces from one or more of the plurality of points on others of the one or more route poses;', 'reposition one or more route poses in response to the forces on each point of the one or more route poses; and', 'perform interpolation between one or more route poses to generate a collision-free path between the one or more route poses for the robot to travel., 'a controller configured to2. The robot of claim 1 , wherein:the one or more ...

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Номер записи: 90
02-01-2020 дата публикации

METHOD AND ARRANGEMENT FOR GENERATING CONTROL COMMANDS FOR AN AUTONOMOUS ROAD VEHICLE

Номер: US20200004255A1
Автор: INNOCENTI Christopher, LINDÈN Henrik, MOHAMMADIHA Nasser, PANAHANDEH Ghazaleh
Принадлежит: ZENUITY AB

Described herein is a method and arrangement () for generating validated control commands () for an autonomous road vehicle (). An end-to-end trained neural network system () is arranged to receive an input of raw sensor data () from on-board sensors () of the autonomous road vehicle () as well as object-level data () and tactical information data (). The end-to-end trained neural network system () is further arranged to map input data () to control commands () for the autonomous road vehicle () over pre-set time horizons. A safety module () is arranged to receive the control commands () for the autonomous road vehicle () over the pre-set time horizons and perform risk assessment of planned trajectories resulting from the control commands () for the autonomous road vehicle () over the pre-set time horizons. The safety module () is further arranged to validate as safe and output validated control commands () for the autonomous road vehicle (). 123. Method for generating validated control commands () for an autonomous road vehicle () , characterized in that it comprises:{'b': 16', '4', '5', '6', '3', '7', '8, 'providing () as input data to an end-to-end trained neural network system () raw sensor data () from on-board sensors () of the autonomous road vehicle () as well as object-level data () and tactical information data ();'}{'b': 17', '4', '5', '7', '8', '10', '3, 'mapping (), by the end-to-end trained neural network system (), input data (, , ) to control commands () for the autonomous road vehicle () over pre-set time horizons;'}{'b': 18', '10', '3', '9', '10', '3, 'subjecting () the control commands () for the autonomous road vehicle () over the pre-set time horizons to a safety module () arranged to perform risk assessment of planned trajectories resulting from the control commands () for the autonomous road vehicle () over the pre-set time horizons;'}{'b': 19', '20', '9', '2', '3, 'validating () as safe and outputting () from the safety module () validated ...

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Номер записи: 91
02-01-2020 дата публикации

SEMANTIC OBJECT CLUSTERING FOR AUTONOMOUS VEHICLE DECISION MAKING

Номер: US20200004256A1
Автор: Da Fang, Russell Jared Stephen
Принадлежит:

The technology relates to controlling a vehicle in an autonomous driving mode. For example, sensor data identifying a plurality of objects may be received. Pairs of objects of the plurality of objects may be identified. For each identified pair of objects of the plurality of objects, a similarity value which indicates whether the objects of that identified pair of objects can be responded to by the vehicle as a group may be determined. The objects of one of the identified pairs of objects may be clustered together based on the similarity score. The vehicle may be controlled in the autonomous mode by responding to each object in the cluster in a same way. 1. A method of controlling a vehicle in an autonomous driving mode , the method comprising:receiving, by one or more processors, sensor data identifying a plurality of objects;identifying pairs of objects of the plurality of objects;determining, by the one or more processors, for each identified pair of objects of the plurality of objects, whether that identified pair of objects meets a series of conditions;clustering, by the one or more processors, the objects of one of the identified pairs of objects based on the determination; andcontrolling, by the one or more processors, the vehicle in the autonomous driving mode by responding to each object in the cluster in a same way.2. The method of claim 1 , wherein at least one of the series of conditions relates to a distance between the objects of the one of the identified pairs of objects.3. The method of claim 1 , wherein at least one of the series of conditions relates to object types of the objects of the one of the identified pairs of objects.4. The method of claim 1 , wherein at least one of the series of conditions relates to past and current motion of the objects of the one of the identified pairs of objects.5. The method of claim 1 , wherein at least one of the series of conditions relates to a similarity between predicted future motion of the objects of the ...

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Номер записи: 92
02-01-2020 дата публикации

METHODS AND SYSTEMS OF DISTRIBUTING TASK AREAS FOR CLEANING DEVICES, AND CLEANING DEVICES

Номер: US20200004258A1
Автор: Chen Chun-Ting, CHEN Yu-Ching, HSU Tao-Chih, Wang Yang-Sheng
Принадлежит:

A method of distributing task areas, adapted to a cleaning device, is provided, including: receiving a task map; obtaining a shape that corresponds to the task map; dividing the task map into a plurality of sub-regions according to a plurality of recesses in the shape; merging the two adjacent sub-regions that have a common long side or short side, and obtaining a plurality of merge results that correspond to each of the merge actions; calculating a plurality of cleaning times for each of the merge results for the cleaning device; selecting the merge result that has the shortest cleaning times as a first distribution result; and enabling the cleaning device to perform a cleaning task according to the first distribution result. 1. A method of distributing task areas , adapted to a cleaning device , comprising:receiving a task map;obtaining a shape that corresponds to the task map;dividing the task map into a plurality of sub-regions according to a plurality of recesses in the shape;merging the two adjacent sub-regions that have a common long side or short side, and obtaining a plurality of merge results that correspond to each of the merge actions;calculating a plurality of cleaning times for each of the merge results for the cleaning device;selecting the merge result that has the shortest cleaning times as a first distribution result;enabling the cleaning device to perform a cleaning task according to the first distribution result.2. The method as claimed in claim 1 , further comprising:calculating the cleaning time according to a first formula or a second formula according to the number of cleaning units on the short side of the sub-region; {'br': None, 'i': T', 'XT', 'XY−', 'L', 'Y−', 'L, 'sub': 'total', 'sup': '2', '=2+(1)+√{square root over (1+(2))}*'}, 'wherein when the number of cleaning units on the short side is an odd number, the cleaning time is calculated using the first formula, and the first formula is expressed as {'br': None, 'i': T', 'XT+XYL, 'sub': ...

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Номер записи: 93
02-01-2020 дата публикации

ROBOT CLEANER FOR RECOGNIZING STUCK SITUATION THROUGH ARTIFICIAL INTELLIGENCE AND METHOD OF OPERATING THE SAME

Номер: US20200004260A1
Автор: Chae Seungah, Kim Kokeun, Kim Suyeon, Lee Kamin
Принадлежит: LG ELECTRONICS INC.

A robot cleaner for recognizing a stuck situation through artificial intelligence includes a driving unit to drive the robot cleaner, a sensing unit configured to acquire three-dimensional (3D) image data and a bumper event, a memory configured to store a stuck situation recognition model for inferring the stuck situation of the robot cleaner, and a processor configured to convert the 3D image data and the bumper event into surrounding map image data, infer the stuck situation of the robot cleaner from the 3D image data and the bumper event using the stuck situation recognition model, and control the driving unit according to an inference result. 1. A robot cleaner for recognizing a stuck situation through artificial intelligence , the robot cleaner comprising:a driving motor to drive the robot cleaner;a sensor configured to acquire three-dimensional (3D) image data and a bumper event;a memory configured to store a stuck situation recognition model for inferring the stuck situation of the robot cleaner; anda processor configured to:convert the 3D image data and the bumper event into surrounding map image data,infer the stuck situation of the robot cleaner from the 3D image data and the bumper event using the stuck situation recognition model, andcontrol the driving motor according to an inference result.2. The robot cleaner of claim 1 ,wherein the stuck situation recognition model is an artificial neural network based model subjected to supervised learning through a deep learning algorithm or a machine learning algorithm, andwherein a training data set used to train the stuck situation recognition model includes the acquired surrounding map image data for training and labeling data indicating the stuck situation labeled therewith while the robot cleaner travels.3. The robot cleaner of claim 2 ,wherein the processor drives the robot cleaner along a cleaning route when the inference result of the stuck situation recognition model is a non-stuck situation and ...

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Номер записи: 94
02-01-2020 дата публикации

MOBILE ROBOT AND CONTROL METHOD

Номер: US20200004263A1
Автор: DALLA LIBERA Fabio, TSUSAKA Yuko
Принадлежит:

A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map and a first path along which the cleaning device is to move; a first identification unit which identifies a feature point which is a point where a distance between the object and the range finding sensor varies; a second identification unit which identifies a virtual point which is, among points on a virtual line segment, a point closest to the first path when the virtual line segment does not intersect with the first path, the virtual line segment extending toward the first path from the feature point, and having a maximum length within the predetermined range-finding range; a converter which converts the first path into a second path which passes through the virtual point; and a motor controller which causes the cleaning device to move along the second path. 1. A mobile robot which moves in an environment , the mobile robot comprising:a range finding sensor having a predetermined range-finding range;an acquisition unit which acquires a map of the environment including position information of an object, and a first path along which the mobile robot is to move in the environment;a first identification unit which identifies a feature point which is, among points each indicating a position of the object on the map, a point where, as viewed from a direction toward the point from the mobile robot, a distance between the object and the range finding sensor varies with movement of the mobile robot along the first path;a second identification unit which identifies a virtual point which is, among points on a virtual line segment, a point closest to the first path when the virtual line segment does not intersect with the first path, the virtual line segment extending toward the first path from the feature point, and having a maximum length within the predetermined range-finding range;a converter which converts the first path into a second path which passes through the virtual point; ...

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Номер записи: 95
02-01-2020 дата публикации

ROBOT HAVING CLEANING FUNCTION FOR SECURING CAMERA VISION AND METHOD OF CONTROLLING THE SAME

Номер: US20200004264A1
Автор: KIM Nakyeong, LEE Jun, LEE Sanghak, MOON Sungmin
Принадлежит: LG ELECTRONICS INC.

An apparatus having a camera cleaning function and a method of controlling the same are provided. The robot has a cleaning function for securing a camera field of view. The robot includes a camera that has a foreign material detection sensor and a housing fixed to a photographing position of the robot. The camera outputs a detection signal upon detecting a foreign material, takes an image in all directions; a rotation cover formed of a transparent material to protect the camera from the foreign material and at a position spaced apart from the camera in all directions, and rotates according to the detection signal, The housing fixes a driving module of the rotation cover, and is connected to a cleaning module for cleaning the rotation cover. 1. A robot having a cleaning function for securing a camera field of view , the robot comprising:a camera having a foreign material detection sensor and configured to output a detection signal upon detecting a foreign material and take an image in all directions;a rotation cover formed of a transparent material to protect the camera from the foreign material and at a position spaced apart from the camera in all directions, and configured to rotate according to the detection signal; anda housing fixed to a photographing position of the robot, configured to fix a driving module of the rotation cover, and connected to a cleaning module which is configured to clean the rotation cover.2. The robot according to claim 1 , wherein the driving module includes a motor positioned between the rotation cover and the housing or at an outside of the housing to rotate the camera or to simultaneously rotate the camera and the rotation cover.3. The robot according to claim 2 , wherein the camera is fixed to the housing claim 2 ,a rotary shaft of the rotation cover is connected to the motor, andthe motor rotates the rotation cover according to the detection signal.4. The robot according to claim 3 , wherein the rotation cover is rotated by 360 ...

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Номер записи: 96
02-01-2020 дата публикации

AUTONOMOUS DRIVING VEHICLES WITH REDUNDANT ULTRASONIC RADAR

Номер: US20200004265A1
Автор: Zhu Fan
Принадлежит:

In one embodiment, an ADV includes a sensor system having a number of sensors mounted at various locations of the ADV. The sensors include a LIDAR unit, an IMU unit, a RADAR unit, and an array of ultrasonic sensors. The array of ultrasonic sensors are disposed on a frontend of the ADV and configured in various sensing directions. The ADV further includes a perception and planning system coupled to the sensor system. The perception and planning system includes a perception module and a planning module. The perception module is configured to perceive a driving environment surrounding the ADV based on sensor data received from the sensors of the sensor system. The sensor data includes ultrasonic sensor data obtained from the ultrasonic sensors. The planning module is configured to plan a trajectory to drive the ADV based on perception data perceiving the driving environment from the perception module. 1. An autonomous driving vehicle , comprising:a sensor system having a plurality of sensors mounted at a plurality of locations of an autonomous driving vehicle (ADV), the plurality of sensors including a LIDAR unit, an IMU unit, a RADAR unit, and an array of ultrasonic sensors, wherein the array of ultrasonic sensors are disposed on a frontend of the ADV and configured in a plurality of sensing directions; and a perception module configured to perceive a driving environment surrounding the ADV based on sensor data received from the sensors of the sensor system, including ultrasonic sensor data obtained from the ultrasonic sensors, and', 'the planning module configured to plan a trajectory to drive the ADV based on perception data perceiving the driving environment from the perception module., 'a perception and planning system coupled to the sensor system, the perception and planning system includes'}2. The autonomous driving vehicle of claim 1 , wherein the ultrasonic sensors disposed substantially symmetrically on the frontend of the ADV with respect to a center of the ...

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Номер записи: 97
02-01-2020 дата публикации

Traveling assistance device, traveling assistance management device, methods of same devices, and traveling assistance system

Номер: US20200004269A1
Автор: Eiji Oba
Принадлежит: Sony Semiconductor Solutions Corp

A traveling assistance device provided on a traveling assistance target vehicle 11 includes: an outside-vehicle information acquisition unit that acquires outside-vehicle information; a communication unit that communicates with a traveling assistance management device 15 providing leading vehicle information; and a traveling control unit that performs following traveling control for traveling while following a leading vehicle indicated by leading vehicle information acquired from the traveling assistance management device. The following traveling control is performed using the outside-vehicle information acquired by the outside-vehicle information acquisition unit and the leading vehicle information. The traveling assistance management device 15 that manages the traveling assistance at a position away from the vehicle includes: a communication unit that communicates with the traveling assistance target vehicle 11; and an information processing unit that selects, as a leading vehicle, a candidate vehicle 12-1 scheduled to travel in a traveling schedule route of the traveling assistance target vehicle at a traveling schedule time of the traveling assistance target vehicle from candidate vehicles in response to a request for leading vehicle information from the traveling assistance target vehicle, and notifies the traveling assistance target vehicle of leading vehicle information indicating the leading vehicle. Following traveling is automatically and efficiently achievable.

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Номер записи: 98
07-01-2021 дата публикации

SELF-DRIVING VEHICLE SYSTEMS AND METHODS

Номер: US20210004002A1
Автор: Schwie Wesley Edward, Wengreen Eric John
Принадлежит:

A maintenance system can be used with a self-driving vehicle. The maintenance system can include a smoke detection system that is coupled to the self-driving vehicle and is configured to detect smoke inside a passenger cabin of the vehicle, a motor compartment of the vehicle, or a battery compartment of the vehicle. 1. A maintenance system configured to be used with a self-driving vehicle , the maintenance system comprising:a smoke detection system coupled to the self-driving vehicle and configured to detect smoke inside a portion of the self-driving vehicle; anda vehicle management system configured to autonomously drive the self-driving vehicle.2. The maintenance system of claim 1 , wherein the smoke is combustion smoke claim 1 , and wherein the smoke detection system coupled to the self-driving vehicle comprises an ionization smoke detector configured to detect the combustion smoke and comprises an optical smoke detector configured to detect electronic cigarette aerosol by analyzing a particle size of the aerosol and determining that the particle size is indicative of electronic cigarette use.3. The maintenance system of claim 2 , wherein the optical smoke detector comprises an infrared light and a blue light configured to measure the particle size.4. The maintenance system of claim 2 , wherein the self-driving vehicle comprises a ceiling claim 2 , and wherein the smoke detection system is coupled to the ceiling of the self-driving vehicle and comprises a first camera configured to take a picture in response to the smoke detection system detecting the smoke.5. The maintenance system of claim 4 , wherein the picture is configured to show a rider smoking in the self-driving vehicle.6. The maintenance system of claim 2 , wherein the smoke detection system comprises a first button configured to summon an emergency responder and provide a GPS location of the self-driving vehicle in response to a rider pressing the first button.7. The maintenance system of claim 2 , ...

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Номер записи: 99
07-01-2021 дата публикации

METHOD FOR AUTONOMOUSLY CONTROLLING A VEHICLE

Номер: US20210004004A1
Автор: ALTICE Jason, JR. James, Whitfield
Принадлежит:

The present application provides a method for autonomously controlling a vehicle performed by a control system of the vehicle on the basis of a mission received from a mission controller, the method comprising: 1. A method for autonomously controlling a vehicle performed by a control system of the vehicle on the basis of a mission received from a mission controller , the method comprising:receiving a mission comprising a set of instructions from the mission controller;validating the mission by checking whether the mission meets a first set of requirements;executing the mission if the mission meets the first set of requirements and rejecting the mission if the mission does not meet the first set of requirements.2. The method of claim 1 , comprising the further steps of:storing the mission received from the mission controller,receiving a command from the mission controller to execute the mission and on receipt of the command to execute the mission, performing the step of validating the mission.3. The method of claim 1 , comprising the further steps of:determining a current value of at least one dynamic variable, the dynamic variable describing at least one out of a vehicle parameter and an environmental parameter andperforming the step of validating the mission using the current value of the at least one dynamic variable.4. The method of claim 3 , wherein the at least one the dynamic variable describes at least one out of a weight of the vehicle claim 3 , a loading condition claim 3 , a weather condition and a road condition.5. The method of claim 1 , comprising the further steps of:storing a mission received from the mission controller, determining a current value of at least one the dynamic variable, the dynamic variable describing at least one out of a vehicle parameter and an environmental parameter and', 'performing the step of validating the mission using the current value of the dynamic variable., 'receiving a command from the mission controller to execute the ...

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Номер записи: 100