Accident attenuation systems and methods

Various systems and methods are disclosed to mitigate potential accidents. In one implementation, a method determines a speed of a second vehicle approaching from behind a first vehicle and determines a distance between the first and second vehicles. The method determines whether the second vehicle can stop before colliding with the first vehicle. If the second vehicle cannot stop before colliding with the first vehicle, the method takes action to attenuate the potential collision by applying full brake force of the first vehicle, tightening seat belts, and/or turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic. Action to attenuate a collision may be based on a geographic location of the first vehicle determined using a GPS system. A further method comprises determining whether the second vehicle can stop before colliding with the first vehicle; identifying any oncoming traffic; and if the second vehicle cannot stop and there is no oncoming ...

Communicating animal proximity to a vehicle

Example systems and methods for communicating animal proximity to a vehicle are described. In one implementation, a device implanted in an animal is activated when the device is within a predetermined distance of a vehicle. The vehicle receives a signal from the device and determines an approximate distance between the device and the vehicle. A symbol is flashed to a driver of the vehicle at a frequency that corresponds to the approximate distance between the device and the vehicle.

Methods and apparatuses for vehicle wading safety

Techniques and examples pertaining to vehicle water wading safety are described. A Processor implementable to a vehicle approaching a water body receives topographic data related to the water body from one or more above-water or under-water sensors. The processor determines a top surface and a bottom profile of the water body, and calculates one or more critical trajectories of water-sensitive components of the vehicle if the vehicle is to wade through the water body by traversing the bottom profile. The processor may then determine the wading safety based on the critical trajectories and the top surface of the water body. The processor may further determine a wading route, and autonomously drive the vehicle to wade the water body via the optimal wading route.

Detecting and responding to emergency vehicles in a roadway

A method for a host vehicle to yield to an emergency vehicle comprising detecting that an emergency vehicle is approaching based on first sensor data 302, determining the yield strategy based on second sensor data 304 and automatically controlling the vehicle to implement said strategy 305. The yield strategy may comprise the host vehicle changing lanes, slowing down or stopping. Further aspects define that the first sensor data may comprise data on the external environment in the vicinity of the host vehicle. The method may also include receiving vehicle to vehicle communication from the emergency vehicle in order to notify the host vehicle of its intended path, which may be then used to determine the yield strategy.

Ice and snow detection systems and methods

Method for activating an ice and snow detection system in response to receiving weather data indicating a likelihood of ice or snow on a roadway near a vehicle. The method receives data from multiple vehicle sensors and analyses the received data to identify ice or snow on the roadway. If ice or snow is identified on the roadway, the method adjusts vehicle operations and reports the ice or snow condition to a shared database. Said vehicle adjusting operating may include reducing the vehicle speed, engaging active clutches for a four wheel drive or avoiding sudden speed changes. The vehicle may be autonomous or may attempt to manoeuvre around the ice or snow. Another method activates an ice and snow detection system in response to receiving weather data indicating a likelihood of ice or snow on a roadway near a vehicle, receiving image data from a vehicle camera. The method comprises receiving LIDAR data and in combination with the camera image, detect ice or snow. This second method also ...

Virtual sensor data generation for bollard receiver detection

Simulating virtual sensor data in a three dimensional environment model 802, said environment containing one or more bollard receivers. The method comprises generating virtual sensor data for a plurality of sensors within the environment 804, the sensors possibly mounted to a vehicle, and determining virtual ground truth data about at least one bollard receiver 806. The method then stores and associates the virtual sensor data and the virtual ground truth data 808, which may then be used to train a machine learning model. The method may also comprise determining one or more simulated conditions for each of the bollard receivers including position, presence and dimensions. Such a system may be used in the context of avoiding collisions with bollard receivers mounted in the road.

Systems, methods, and drives for fusion of predicted path attributes and drive history

Providing path attributes to controllers in a vehicle includes determining a most probable path for a vehicle, 602. Attributed predicted path attributes are obtained based on a map data 604 and drive history path attributes are obtained based on a drive history 606. Combined path attributes are then generated based on the path attributes from the attributed predicted path and the path attributes from the drive history, 608. The combined path attributes are then provided to one or more controllers, 610. The controllers may include adaptive cruise control, energy management control, curve warning, headlight control, lane departure warning, hill powertrain optimisation, driver notification, driver assistance and/or automated driving.

Detecting hazards in anticipation of opening vehicle doors

Determining whether or not an approaching object 402 is going to collide with a door 403 of a host vehicle 401, once the door 403 is opened. The method comprises: determining that the approaching traffic 402 will pass through the space 406 occupied by the door 403, possible by one of more sensors externally mounted on the vehicle; receiving a classification of the approaching traffic 402 from a neural network; and determining that the door 403 poses a hazard to the approaching traffic 402 based on the classification of the approaching traffic and a configuration of the host vehicle 401. The classification may indicate that the approaching vehicle is a cyclist, skate boarder, wheel chair or a roller skater. The data received from the sensors may be filtered on a heterogeneous computing platform in order to determine that the speed and direction of the approaching vehicle would result in a collision with the door.

Passenger monitoring systems and methods

A method comprises the steps of: Receiving a transport request at a vehicle, which may be an autonomous vehicle, the transport request indicating a passenger and a pick-up location. Driving to the pick-up location. Unlocking the vehicle doors and allowing the passenger to access the vehicle. Determining whether the passenger is impaired. In response to determining that the passenger is impaired (eg drunk, sick, or ill), changing the vehicles driving characteristics to avoid sudden stops and sharp turns. A second aspect includes the steps of: unlocking the doors having determined the passenger is not impaired and continuing to monitor the passenger for sickness.

Systems, methods, and devices for communicating drive history path attributes

Providing path attributes to controllers in a vehicle includes determining a location of a vehicle and a future driving path for the vehicle, 602. Drive history path attributes for the future driving path are then determined based on a drive history for the vehicle or a driver of the vehicle, 604. The drive history path attributes are then provided to a plurality of controllers via a controller bus, preferably a CAN bus, wherein the drive history path attributes are provided to the plurality of controllers using a common protocol, 606. If the vehicle departs from the future driving path, attributes may be provided for the alternative path and the future driving path attributes may be discarded. The controllers may include adaptive cruise control, energy management control, curve warning, headlight control, lane departure warning, hill powertrain optimisation, driver notification, driver assistance and/or automated driving.

Vehicle-window-transmittance-control apparatus and method

A vehicle 10 includes systems for adjusting window 12 transmittance. A camera (26c see fig 2) is provided for obtaining images of an occupant. An artificial neural network runs on computer hardware carried on-board the vehicle. The artificial neural network is trained to classify the occupant using the images captured by the camera (26c) as input. A controller 14 varies the transmittance of the one or more windows 12 based on classifications made by the artificial neural network. For example, if the artificial neural network classifies the occupant as squinting or shading his or her eyes with a hand, the controller helpfully reduces the transmittance of a windshield and/or of a side window. Skin pigmentation and inputs from an ambient light sensor may be taken into account. Sensing may also be provided via photovoltaic components 24. Adjustment is typically made via an electrochromic layer 22 associated with a laminated glass window 12.

Vehicle occupancy indication and utilization thereof

A method, comprises determining, by a processor associated with a vehicle 105, occupancy information regarding a number of occupants in the vehicle; and indicating, the occupancy information in either or both of a human-perceivable way and a machine-perceivable way. The human-perceivable way may include controlling an indicator (such as a light bar or numerical display 112, 114, 122, 124, 126). The indication of occupancy may be by a wireless transmission using vehicle-to-vehicle (V2V) communications. The method may further comprise obtaining, additional occupancy information from one or more other vehicles and determining, based at least in part on the occupancy information and the additional occupancy information, a manoeuvring pattern to manoeuvre the vehicle when the vehicle is in a predefined condition. The predefined condition may be that the vehicle is involved in an unavoidable collision with at least one vehicle of the one or more vehicles, and the manoeuvring pattern comprises ...

Vehicle radar perception and localization

A vehicle driving system wherein map data is stored 410 in a storage device, a radar system generates perception information 420 regarding objects in the vicinity of the vehicle, the radar perception information can be combined with the stored map data and location information from satellite positioning (GPS) to identify the location of the vehicle on the map. The location information can also be received from another vehicle via vehicle to vehicle (V2V) communication, vehicle to infrastructure (V2X). The system is also configured to determine a sensor failure, error or malfunction 434 due to a damaged sensor or poor weather conditions of a camera and LIDAR arrangement. In the case the camera and LIDAR data is unreliable, radar perception information will be used instead 436,438 to determine the location of the vehicle. The vehicle can be an autonomous vehicle. After determining the location of the vehicle a driving maneuver 440 is executed which can include braking or steering of the vehicle ...

Communicating animal proximity to a vehicle

Drive history parking barrier alert

A driving assistance system determines the presence of obstructions whilst a vehicle is being parked; this is stored in the drive history database of the vehicle. Obstructions may be kerbs or barriers at the end of a parking bay. When the vehicle is about to depart (someone enters the vehicle or sits in the drivers seat, the vehicle is started or put into gear, a key is introduced, or drive mode is selected) a warning is given of thee obstructions, which may not be detectable by the vehicles sensors or visible to the driver at that point. The notification, which may include the position of the obstruction, is given visibly or audibly to a human driver or electronically to an automated driving system of the vehicle.

Inductive loop detection systems and methods

A method comprising receiving image data from at least one camera 110 of a vehicle, determining a geographic position 112 of the vehicle, determining based on the image and position data of the vehicle a location of an inductive loop (208, fig. 2) in a roadway (200) proximate to the vehicle, and storing data associated with the location of the inductive loop in a storage device within the vehicle. Further provided is an apparatus to carry out such a method. Also provided is a method comprising receiving information identifying a plurality of induction loops in the proximity of the vehicle, determining whether a current trajectory of the vehicle will activate a first inductive loop being approached by the vehicle, and if it will not, adjusting the vehicles trajectory to enable activation of the first inductive loop.

Tornado detection systems and methods

A method comprises receiving data from a sensor 402, which may be a LIDAR, a radar, or a camera, mounted to a vehicle. The received data is analysed using a deep neural network 404. A tornado detection system in the vehicle determines whether a tornado is identified in the received data 406. When a tornado is identified in the received data, a trajectory of the tornado is determined 410. A path for the vehicle orthogonal to or leading away from the tornado trajectory may be determined. Driving commands to drive the vehicle along the path may be generated 414. Alternatively, a path for the vehicle may be determined based on the trajectory of the tornado, the speed of the tornado, a geographic location of the tornado, and map data. The location and trajectory of the tornado may be reported to nearby vehicles or an infrastructure-based system 416. Audible or visual warnings indicating the tornados existence may be generated. Audible or visual driving instructions to manoeuvre the vehicle to ...

Parking obstruction locator and height estimator

A system, method 700 and apparatus are disclosed for assessing whether a vehicle will make contact with an obstacle. The system, method, and apparatus includes an obstacle sensing component configured to determine a location and a dimension of an obstacle 704, a vehicle sensing component configured to determine a height of a point of the vehicle relative to the ground 706, and a notification component configured to provide an indication of a presence of the obstacle to assist a human driver or an automated driving system in parking the vehicle without making contact with the obstacle 708, 710. Should it be determined that a collision is likely, an active suspension component may assist the driver, possibly by adjusting the vehicle height. A data storage device may be utilised to record vehicle location history, identifying possible locations of previously encountered obstacles. The driver notification could be a multi-axis obstacle location output.

Ride control systems and methods

The invention aims to help a baby fall asleep in a vehicle by providing a smooth ride and a gentle rocking motion. A request to initiate a drive session to help a baby fall asleep is received 402. A driving route is selected and followed 404, 406. One or more vehicle-mounted sensors e.g. cameras determine whether the baby in the vehicle has fallen asleep during the drive session. The driving route may be selected based on road smoothness, road topology, turns and stops in the driving route. The vehicle may return to a home location once the baby has fallen asleep 412. There is also provided a method (Fig.6, 600) wherein a drive session is simulated to help a baby or child fall asleep. A drive session is simulated by generating independent motion in the suspension of the vehicle (Fig.6, 606) in accordance with a selected driving route while the vehicle is stationary, generating back and forth motion in the body of the vehicle. Engine noise and sounds may be played into the vehicle cabin.

Passenger tracking systems and methods

A method comprises receiving a transport request 402 from a first passenger and identifying 408 them prior to boarding a vehicle at a pick up location. The first transport request comprises first passenger information, a first pick up location and a first destination. A second transport request is received from a second passenger, the request comprising second passenger information, a second pick up location and a second destination. The vehicle drives to the first destination and determines whether the correct people exit at the first destination. The identification 408 may comprise facial recognition using images from a vehicle-mounted camera, or the use of a mobile device having a unique identifier carried by the passenger. It may be determined by camera that no passengers remain in the vehicle at the destination. The vehicle may be an autonomous vehicle. The vehicle doors may be unlocked in response to a successful authentication. An apparatus for carrying out the method is also disclosed ...

Detecting an animal proximate a vehicle

Example systems and methods for detecting an animal proximate a vehicle are described. In one implementation, a wearable device carried by an animal is activated when the wearable device is within a predetermined distance of a vehicle. The vehicle receives a signal from the wearable device and determines an approximate distance between the wearable device and the vehicle. An alert is generated to warn a driver that an animal is near the vehicle. The alert has an intensity level that corresponds to the approximate distance between the wearable device and the vehicle.

Object detection for vehicles

A vehicle 100 includes a pair of cameras 104, 102 disposed on the vehicle and oriented to view an entrance 106 to the vehicle. The vehicle also includes a processor 110 configured to compare a profile image of a passenger's 108 facial feature from one of the pair with a frontal image of the passenger's facial feature from the other of the pair. The processor is configured to lock the entrance to the vehicle in response to the facial features being different. The processor may be further configured to provide a three dimensional (3D) model of the facial features, the possible features being a nose or a chin. Another independent aspect of the invention is similar to the above, wherein the vehicle is disabled if the facial profile does not match. A final independent aspect relates to a vehicle comprising a processor for processing a facial profile from a pair of cameras, and in addition taking into account a mass of an object disposed in the vehicle and providing a notification to the passenger ...

Inductive loop detection systems and method

A method 500 comprising receiving 502 information identifying a plurality if inductive loops in the proximity of a vehicle, determining 504 a first inductive loop being approached by the vehicle, determining 506, 508 whether a current trajectory will activate the first inductive loop, and, if the current trajectory does not activate the first inductive loop, adjusting 510 the vehicles trajectory to enable activation. Information may be received identifying inductive loops along a planned route, and stopping the vehicle at a location that actives the loops. The location of the inductive loops may include their location with a turn lane, with the trajectory adjustment causing the vehicle to remain in the lane boundaries and pass over the inductive loop. A relative location of a detectable zone of the vehicle may be stored, wherein trajectory adjustment may ensure the detectable zone passes over the inductive loop. A test vehicle or simulations could be used to determine the detectable zones ...

Rear camera lane detection

A method for determining lane information includes receiving perception data from at least two sensors, the at least two sensors including a rear facing camera of a vehicle 110. The other sensors could be radar, LIDAR or infrared 106-114. The method includes determining, based on the perception data, a number of lanes on a roadway (200) within a field of view captured by the perception data using a neural network. The method further includes providing an indication of the number of lanes to an automated driving system 102 or driving assistance system. The method could also comprise determining road slope and collision avoidance options. The lane information may form part of the drive history 128 of the vehicle and could also be broadcast to other automated or assisted vehicles.

Inductive loop detection systems and methods

A method 500 comprising receiving 502 information identifying a plurality if inductive loops in the proximity of a vehicle, determining 504 a first inductive loop being approached by the vehicle, determining 506, 508 whether a current trajectory will activate the first inductive loop, and, if the current trajectory does not activate the first inductive loop, adjusting 510 the vehicle’s trajectory to enable activation. Information may be received identifying inductive loops along a planned route, and stopping the vehicle at a location that actives the loops. The location of the inductive loops may include their location with a turn lane, with the trajectory adjustment causing the vehicle to remain in the lane boundaries and pass over the inductive loop. A relative location of a detectable zone of the vehicle may be stored, wherein trajectory adjustment may ensure the detectable zone passes over the inductive loop. A test vehicle or simulations could be used to determine the detectable zones ...

Metal bridge detection systems and methods

A metal bridge detection system (104 see fig 1) and method are provided for a vehicle 302. Host vehicle LIDAR and camera data contribute to identifying a metal bridge 306 proximate the vehicle. If a metal bridge 306 is identified, the method adjusts vehicle operations to improve vehicle control as it drives across the bridge 306. The invention is provided to address slip which may occur on a metal surface 304 in the bridge 306. Speed is adjusted if longitudinal slip is non-zero. Also a lane change may be performed. The vehicle includes a traction manager (222 see fig 2), GPS (112 see fig 1) and a data fusion and analysis module (216 see fig 2). Detected ice or snow is reported to a shared database.

Perceiving roadway conditions from fused sensor data

A method for perceiving a roadway comprising receiving sensor data from a plurality of cameras. The method comprises receiving sensor data sensed within a threshold of a vehicle 431 and within a field-of-view 416A-B for each camera 411A-B. Receiving other sensor data from another camera 421, the other sensor data sensed beyond the distance threshold 432 within another narrower field-of-view 426. This is followed by fusing the sensor data into a roadway view of the roadway. Preferably the vehicle is autonomously controlled in response to the roadway view. Preferably the sensor data from the plurality of cameras comprises Infrared (IR) sensor data. Preferably the sensor data from the another camera comprises both image sensor data and LIDAR data. Preferably the another camera switches between the two data types. Preferably there is further sensor data such as RADAR, an ultrasonic sensor, a global positioning system (GPS), and an inertial measurement unit system (IMU).

Rear camera stub detection

A method for detecting stubs (104) or intersecting roadways 212, such as at junctions, includes receiving perception data from at least two sensors. The sensors include a rear-facing camera of a vehicle and another sensor. The perception data includes information for a current roadway 200 on which the vehicle is located. The method includes detecting, based on the perception data, an intersecting roadway connecting with the current roadway, and could include detecting gaps in markings 208 or a break in a roadway shoulder 210. The method also includes storing an indication of the location and direction of the intersecting roadway with respect to the current roadway. The sensors could be a camera, or LIDAR, radar, infrared or ultrasound sensors. The location and direction information may form part of the drive history of the vehicle and could also be broadcast to other automated or assisted vehicles.

Detecting an animal proximate a vehicle

Virtual sensor-data-generation system and method supporting development of algorithms facilitating navigation of railway crossings

A method for generating training data using simulation in a virtual environment is disclosed. In one embodiment the method comprises: traversing, by a computer system, one or more virtual sensors (40) over a virtual road surface 36 in a simulation; recording data corresponding to signals (44) output by the virtual sensors during the traversing, wherein the data characterizes a virtual railway (railroad) crossing 28 in the virtual road surface. The data could further be annotated (46), by the computer system, with ground-truth data corresponding to the virtual railroad crossing. The virtual sensor could a forward-facing sensor (40) such as a camera or laser scanner. The virtual sensor may be moved with respect to the virtual road surface as dictated by a vehicle-motion model modeling motion of a vehicle driving on the virtual road surface while carrying the virtual sensor. The virtual sensor data may correspond to what a real sensor would have output had it sensed the road surface in the ...

Pedestrian detection when a vehicle is reversing

The current disclosure relates to the detection of moving objects, such as pedestrians 120, 130 when a host vehicle 110 moves in a rearward direction. This comprises identifying a region of interest 170 external to the host vehicle, such as a pavement or sidewalk; detecting a moving object 120, 130 within said region; determining that a collision between the object and the reversing vehicle is likely; and alerting the driver of the vehicle 110, possibly by a variable audible or visual signal which is dependent on the distance between the object and the vehicle. The vehicle may use a combination of imaging cameras 112 mounted on the vehicle and GPS signals, possibly from a device carried by the pedestrian 120, 130 to determine and track the pedestrians position and trajectory. This location may be further refined using LIDAR, RADAR or similar sensors 114.

Methods and systems for automatically detecting and responding to dangerous road conditions

A method is provided for automatically detecting and safely traversing an accumulation of ice on an impending bridge 300. The vehicle 202 automatically identifies its impending approach to the bridge 300 and senses an accumulation of ice thereon. The method then calculates a speed needed to prevent longitudinal slip between the vehicle 202 and the bridge 300, and automatically slows the vehicle 202 at a rate sufficient to enable the vehicle 202 to reach the calculated speed by the time it reaches a transition 302 to the bridge 300. A computing system (206 fig 2) comprising an icy bridge traversal module (208 fig 2) performs the method. A fusion algorithm combines inputs from sensors (210a-e fig 2) to indicate hazardous conditions. A radar sensor (210b) is used to determine a bridge type. The invention provides an early response to prevent slippage on upcoming ice.

Roadway-crossing-anomaly detection system and method

A method for improving the safety and comfort of a vehicle 12 driving over a railroad track (22a, see fig 2), cattle guard (22b), or the like. The method may include receiving, by a computer system 10, one or more inputs corresponding to one or more forward looking sensors 16. The computer system may also receive data characterizing a motion of the vehicle. The computer system may estimate, based on the one or more inputs and the data, a motion of a vehicle with respect to a railroad track, cattle guard, or the like extending across a road ahead of the vehicle. Accordingly, the computer system may change a suspension setting, steering setting, or the like of the vehicle to more safely or comfortably drive over the railroad track, cattle guard, or the like. The sensor may provide information to the system via a CAN bus of the vehicle. Said sensors may be LiDAR or a camera.

Pedestrian detection and motion prediction with rear-facing camera

A rear-facing camera on a vehicle is used to predict a conflict between forward motion of the vehicle and a moving pedestrian. A computer system identifies a pedestrian in the image received from the camera, and predicts their future motion, and notifies a driver-assistance or automated driving system if the vehicle and pedestrian are at risk of colliding. Pedestrians may be identified using neural networks to first identify likely locations of pedestrians and then to process those locations to identify pedestrians therein. This may involve using a low-resolution saliency map of locations in the received images, and then processing the salient regions of the images at full resolution. The prediction of the pedestrians motion may involve a velocity and location of the pedestrian relative to the vehicle. The camera may be a back-up camera for reversing, and the images may be captured while the vehicle is in a forward gear.

Wind detection systems and methods

A vehicle-mounted sensor is used to identify airborne particles 312. If airborne particles are identified in the received data, the method determines a wind speed and a wind direction based on movement of the airborne particles 312 and determines a best action to avoid or mitigate the impact of the wind. In another embodiment, map data associated with the vehicles current geographic location and weather data associated with said current geographic location may be used or combined with data from the airborne particle sensors, in order to determine the wind condition near the vehicle. A LIDAR, radar and/or camera may be used to identify dirt, vegetation, trash and small objects and data may be shared with nearby vehicles, to ensure audible or visual driving instructions are given, to reduce the speed of vehicle, park near natural windbrakes or position the vehicle to face the wind.

Methods and apparatuses for vehicle wading safety

Bollard receiver identification

A method involves receiving perception data from one or more vehicle sensors, determining based on this data a location of one or more bollard receivers in relation to the body of the vehicle, and providing an indication of the location of the bollard receivers to one or more of a driver and a driving maneuver decision component. The method may involve determining the location further based on a vehicle driving history, and may also involve logging information about the bollard receiver to said driving history. The height of the bollard receiver may be determined. The method may involve determining a driving maneuver based upon the bollard receiver location. Such a maneuver may determine a safety margin for tires with respect to the receivers and avoid driving a tire within said margin. Alternatively the maneuver may comprise driving over the bollard receiver using a tread portion of a tire. The method may also include adjusting an active suspension of the vehicle based upon the presence ...

Passenger validation systems and methods

A vehicle, e.g. an autonomous taxi, receives a transport request indicating passenger and a pickup location, wherein at the pickup location the vehicle authenticates the passenger before unlocking the doors. The number of people entering and exiting the vehicle may be determined. The system may prevent passengers exiting at the wrong destination. A seat sensor or camera may determine the number of passengers or that no passengers remain inside. Authenticating the passenger may include matching a unique identifier of a mobile device carried by the passenger with an identifier on a user profile or capturing an image of the passengers face using a vehicle mounted camera and using facial recognition to determine if it matches an image in a user profile. Other authentication means include biometric data such as a fingerprint, height, weight or the like, or document identification such as a passport, drivers licence, PIN etc. The system may monitor passenger behaviour, such as if a passenger ...

Identifying a driver of a vehicle

The present invention extends to methods, systems, and computer program products for identifying a person as a driver of a vehicle prior to entering the vehicle. The method comprises: receiving a driver identifier from a mobile device, such as a key fob or smart phone, the driver identifier determined from a gait analysis, such as when a person walks towards the vehicle; adjusting vehicle settings, such as a steering column, seat position, stereo and climate control, to stored preferences for the driver identifier; using a sensor at the vehicle to confirm the driver identifier by sensing biometric data of the person; and sending the confirmed driver identifier to the mobile device. The method may also comprise receiving a probability from the mobile device, said probability indicating a likelihood that the mobile device correctly matched the person to the driver identifier. When the probability is below a certain threshold the preferences may not be altered until the biometric data confirms ...

Virtual sensor data generation for wheel stop detection

Virtual sensor data is generated for training and testing models or algorithms to detect objects or obstacles, such as wheel stops or parking barriers. A method for generating virtual sensor data includes simulating a three-dimensional (3D) environment comprising one or more objects. The method includes generating virtual sensor data for a plurality of positions of one or more sensors within the 3D environment. The method includes determining virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth includes information about at least one object within the virtual sensor data. The method also includes storing and associating the virtual sensor data and the virtual ground truth. Alternatively the method may include simulated conditions corresponding to each of the plurality of positions.

Sinkhole detection systems and methods

A sinkhole detection system and method are provided for a vehicle 302. Data received from vehicle mounted sensors (106, 108, 110 see fig 1) is analysed. When a sinkhole 304 is identified in a road ahead of the vehicle 302, vehicle operations are adjusted and the hole is reported to a shared database and/or to another vehicle. The response preferably includes stopping or manoeuvring around the sinkhole. Reporting may include vehicle to vehicle communication. Sensing may include the use of radar, LIDAR and a camera and may rely on detecting a change in elevation of a vehicle in front. The invention reduces the likelihood of accidents and potential injury.

Virtual Sensor-Data-Generation System and Method Supporting Development of Algorithms Facilitating Navigation of Railway Crossings in Varying Weather Conditions

A method for generating training data is disclosed. The method may include executing a simulation process. The simulation process may include traversing a virtual, forward-looking sensor over a virtual road surface defining at least one virtual railroad crossing. During the traversing, the virtual sensor may be moved with respect to the virtual road surface as dictated by a vehicle-motion model modeling motion of a vehicle driving on the virtual road surface while carrying the virtual sensor. Virtual sensor data characterizing the virtual road surface may be recorded. The virtual sensor data may correspond to what a real sensor would have output had it sensed the road surface in the real world. 1. A method comprising:traversing, by a computer system, one or more virtual sensors over a virtual road surface in a simulation;recording, by the computer system, data corresponding to signals output by the one or more virtual sensors during the traversing, wherein the data characterizes a virtual railroad crossing in the virtual road surface; andannotating, by the computer system, the data with ground-truth data corresponding to the virtual railroad crossing.2. The method of claim 1 , wherein the virtual railroad crossing is one of a plurality of virtual railroad crossings distributed cross the virtual road surface claim 1 , each virtual railroad crossing of the plurality of virtual railroad crossings defining a structure sensible by the a first sensor of the one or more virtual sensors.3. The method of claim 2 , wherein the traversing comprises moving each of the one or more virtual sensors with respect to the virtual road surface as dictated by a vehicle-motion model modeling motion of a vehicle carrying the one or more virtual sensors and driving on the virtual road surface.4. The method of claim 3 , wherein the one or more virtual sensors comprise a forward-looking sensor positioned to sense a portion of the virtual road surface ahead of the vehicle.5. The method of ...

Central Irrigation Control System

In one embodiment of the present invention, irrigation software is provided for an irrigation system. The irrigation software may include a hierarchical watering plan display, water pump adjustment, water pump efficiency profile use, a soil moisture interface, a historical flow interface, a demand ET interface, an instant program interface, an instant program interface, a manual irrigation interface, a precipitation management group interface, a rain schedule adjustment algorithm, a map-to-monitor button, a universal start time shift interface, and a conditional screen saver. 1a server;software executable on said server for programming and running an irrigation schedule for an irrigation system.. A system for controlling irrigation comprising: This application claims priority to U.S. Provisional Application Ser. No. 61/372,814 filed Aug. 11, 2010 entitled Central Irrigation Control System, the contents of which are incorporated in their entirety herein.Large irrigation systems typically include a central irrigation controller that is responsible for a variety of tasks associated with operation of the irrigation system. Such central controllers are typically software-based systems executed on a local computer system.The central controller software is typically responsible for planning watering schedules and monitoring operation of the irrigation system. Watering commands or irrigation schedules are typically communicated to a plurality of satellite controllers at various locations on the site. The satellite controllers are connected to valves either in each of the sprinklers or a valve connected to sprinklers or groups sprinklers and can thereby direct each of the sprinklers to water according to the watering schedule.In one embodiment of the present invention, irrigation software is provided for an irrigation system. The irrigation software may include a hierarchical watering plan display, water pump adjustment, water pump efficiency profile use, a soil moisture ...

Methods and Systems for Opening of a Vehicle Access Point Using Audio or Video Data Associated with a User

Methods and systems for opening an access point of a vehicle. A system and a method may involve receiving wirelessly a signal from a remote controller carried by a user. The system and the method may further involve receiving audio or video data indicating the user approaching the vehicle. The system and the method may also involve determining an intention of the user to access an interior of the vehicle based on the audio or video data. The system and the method may also involve opening an access point of the vehicle responsive to the determining of the intention of the user to access the interior of the vehicle. 1. A method comprising:receiving, by a system on a vehicle, audio or video data indicating a user approaching the vehicle;determining, by the system, an intention of the user to access an interior of the vehicle based on the audio or video data indicating a predefined movement of a body part of the user; andopening, by the system, an access point of the vehicle responsive to the determining.2. The method of claim 1 , wherein the determining of the intention of the user based on the audio or video data indicating the predefined movement of the body part of the user comprises detecting an upward movement of shoulders or eyebrows of the user.3. The method of claim 1 , wherein the receiving of the audio or video data indicating the user approaching the vehicle comprises receiving claim 1 , from a camera claim 1 , a video indicating the user approaching the vehicle.4. The method of claim 3 , wherein the determining of the intention of the user comprises analyzing the video to determine whether the user lacks a free hand or is unable to manually open a door at the access point.5. The method of claim 4 , wherein the video indicates the user approaching the vehicle with a cart claim 4 , with a stroller claim 4 , with a walker claim 4 , or with a wheelchair.6. The method of claim 1 , wherein the determining of the intention of the user further comprises detecting a ...

PEDESTRIAN DETECTION WHEN A VEHICLE IS REVERSING

Techniques and implementations pertaining to detection of moving objects, such as pedestrians, when a vehicle moves in a rearward direction are described. A method may involve identifying a region of interest when a vehicle moves in a rearward direction. The method may involve detecting a moving object in the region of interest. The method may also involve determining whether a collision with the moving object by the vehicle moving in the rearward direction is likely. The method may further involve providing a human-perceivable signal responsive to a determination that the collision is likely. 1. A method , comprising:identifying a region of interest when a vehicle moves in a rearward direction;detecting a moving object in the region of interest;determining whether a collision with the moving object by the vehicle moving in the rearward direction is likely; andproviding a human-perceivable signal responsive to a determination that the collision is likely.2. The method of claim 1 , wherein the identifying of the region of interest comprises localizing the region of interest using one or more images captured by a rearward-facing camera in addition to drive history data claim 1 , one or more digital maps claim 1 , global positioning system (GPS) data claim 1 , data from one or more wirelessly-connected devices claim 1 , data from one or more wirelessly-connected sensors claim 1 , or any combination thereof.3. The method of claim 2 , wherein the identifying of the region of interest further comprises refining the localized region of interest using a light-detection-and-ranging (LIDAR) sensor claim 2 , a radar sensor claim 2 , an ultrasound sensor claim 2 , or any combination thereof.4. The method of claim 1 , wherein the detecting of the moving object in the region of interest comprises analyzing one or more images captured by a rearward-facing camera using a machine learning algorithm.5. The method of claim 4 , wherein the machine learning algorithm comprises a deep ...

Vehicle Radar Perception And Localization

The disclosure relates to methods, systems, and apparatuses for autonomous driving vehicles or driving assistance systems and more particularly relates to vehicle radar perception and location. The vehicle driving system disclosed may include a storage media, a radar system, a location component and a driver controller. The storage media stores a map of roadways. The radar system is configured to generate perception information from a region near the vehicle. The location component is configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data. The drive controller is configured to control driving of the vehicle based on the map and the determined location.

Virtual Sensor Data Generation for Bollard Receiver Detection

The disclosure relates to methods, systems, and apparatuses for virtual sensor data generation and more particularly relates to generation of virtual sensor data for training and testing models or algorithms to detect objects or obstacles, such as bollard receivers. A method for generating virtual sensor data includes simulating a 3-dimensional (3D) environment that includes one or more objects, such as bollard receivers. The method includes generating virtual sensor data for a plurality of positions of one or more sensors within the 3D environment. The method includes determining virtual ground truth corresponding to each of the plurality of positions. The ground truth includes information about at least one bollard receiver within the sensor data. For example, the ground truth may include a height of the at least one of the parking barriers. The method also includes storing and associating the virtual sensor data and the virtual ground truth. 1. A method comprising:simulating a three-dimensional (3D) environment comprising one or more bollard receivers;generating virtual sensor data for a plurality of positions of one or more sensors within the 3D environment;determining virtual ground truth corresponding to each of the plurality of positions, the ground truth comprising information about at least one bollard receiver represented within the virtual sensor data; andstoring and associating the virtual sensor data and the virtual ground truth.2. The method of claim 1 , further comprising providing one or more of the virtual sensor data and the virtual ground truth for training or testing of a machine learning algorithm or model.3. The method of claim 2 , wherein training the machine learning algorithm or model comprises providing at least a portion of the virtual sensor data and corresponding virtual ground truth to train the machine learning algorithm or model to determine one or more of a height and a position of a bollard receiver represented within the portion of ...

DRONE FORKLIFT

A UAV includes a fork lift system and a length component. The forklift system includes one or more elongated members extending at least partially in a horizontal direction. The forklift system also includes an extension mechanism configured to selectively retract and extend the one or more elongated members relative to an opposing surface. For example, the elongated members may include the tines of the fork or supporting member of the forklift system. The length component is configured to control the extension mechanism to adjust a distance between the opposing surface and the one or more elongated members to accommodate a payload. 1. An unmanned aerial vehicle (UAV) comprising: one or more elongated members extending at least partially in a horizontal direction;', 'an extension mechanism configured to selectively retract and extend the one or more elongated members relative to an opposing surface; and, 'a fork lift system comprisinga length component configured to control the extension mechanism to adjust a distance between the opposing surface and the one or more elongated members to accommodate a payload.2. The UAV of claim 1 , wherein the extension mechanism comprises one or more telescopic cylinders.3. The UAV of claim 1 , further comprising an identification component configured to identify a payload based on one or more of a tag or barcode on the payload.4. The UAV of claim 3 , further comprising an optical sensor or tag reader configured to read identifying information from the tag or barcode.5. The UAV of claim 1 , further comprising a size component configured to determine a dimension of the payload claim 1 , wherein the length component is configured to adjust the distance to accommodate the dimension of the payload.6. The UAV of claim 1 , further comprising a load component configured to fly or move the UAV to position the payload between the one or more elongated mechanisms and the opposing surface claim 1 , wherein the length component is further ...

REAR CAMERA STUB DETECTION

A method for detecting stubs or intersecting roadways includes receiving perception data from at least two sensors. The at least two sensors include a rear facing camera of a vehicle and another sensor. The perception data includes information for a current roadway on which the vehicle is located. The method includes detecting, based on the perception data, an intersecting roadway connecting with the current roadway. The method also includes storing an indication of a location and a direction of the intersecting roadway with respect to the current roadway. 1. A method comprising:receiving perception data from at least two sensors, the at least two sensors comprising a rear facing camera of a vehicle, wherein the perception data comprises information for a current roadway on which the vehicle is located;detecting, based on the perception data, an intersecting roadway connecting with the current roadway; andstoring an indication of a location and a direction of the intersecting roadway with respect to the current roadway.2. The method of claim 1 , wherein detecting the intersecting roadway comprises detecting one or more of: a gap in roadway markings claim 1 , a break in a shoulder for the current roadway claim 1 , or a variation or break in curb or barrier height.3. The method of claim 1 , wherein detecting the intersecting roadway comprises detecting using a deep neural network.4. The method of claim 1 , wherein the at least two sensors comprise the rear facing camera and one or more of a light detection and ranging (LIDAR) system claim 1 , a radar system claim 1 , an ultrasound sensing system claim 1 , or an infrared camera system.5. The method of claim 1 , wherein the direction indicates a side of the current roadway on which the intersecting roadway is located.6. The method of claim 1 , wherein storing the indication of the location and direction comprises uploading to a remote storage location accessible over a network.7. The method of claim 7 , further ...

REAR CAMERA LANE DETECTION

A method for determining lane information includes receiving perception data from at least two sensors, the at least two sensors including a rear facing camera of a vehicle. The method includes determining, based on the perception data, a number of lanes on a roadway within a field of view captured by the perception data using a neural network. The method includes providing an indication of the number of lanes to an automated driving system or driving assistance system. 1. A method comprising:receiving perception data from at least two sensors, the at least two sensors including a rear facing camera of a vehicle;determining, based on the perception data, a number of lanes on a roadway within a field of view captured by the perception data using a neural network; andproviding an indication of the number of lanes to an automated driving system or driving assistance system.2. The method of claim 1 , the method further comprising determining a current lane in which the vehicle is located using a neural network claim 1 , wherein the current lane corresponds to a lane position of the vehicle at a time when the perception data was obtained.3. The method of claim 1 , wherein the at least two sensors comprise the rear facing camera and one or more of a light detection and ranging (LIDAR) system claim 1 , a radar system claim 1 , an ultrasound sensing system claim 1 , or an infrared camera system.4. The method of claim 1 , further comprising determining claim 1 , based on the perception data claim 1 , road slope in one or more of a vertical direction or a horizontal direction.5. The method of claim 1 , further comprising determining one or more of a driving trajectory or collision avoidance options based on the number of lanes.6. The method of claim 1 , further comprising storing the indication of the number of lanes in a drive history for later access.7. The method of claim 1 , further comprising uploading the indication of the number of lanes to a remote storage location.8. ...

Vehicle-Window-Transmittance-Control Apparatus And Method

A vehicle is disclosed that includes systems for adjusting the transmittance of one or more windows of the vehicle. The vehicle may include a camera outputting images taken of an occupant within the vehicle. The vehicle may also include an artificial neural network running on computer hardware carried on-board the vehicle. The artificial neural network may be trained to classify the occupant of the vehicle using the images captured by the camera as input. The vehicle may further include a controller controlling transmittance of the one or more windows based on classifications made by the artificial neural network. For example, if the artificial neural network classifies the occupant as squinting or shading his or her eyes with a hand, the controller may reduce the transmittance of a windshield, side window, or some combination thereof 1. A system comprising:a vehicle having a window with variable transmittance;a camera secured to the vehicle and outputting image data corresponding to one or more images taken of an occupant within the vehicle;an artificial neural network running on hardware carried onboard the vehicle; generating an affinity score for each of a plurality of classes of occupant configuration using the image data as an input, each of the plurality of classes corresponding to a different occupant perception of radiant flux, and', 'selecting, from among the plurality of classes, a class of occupant configuration associated with the occupant based on an affinity score for the class of occupant configuration satisfying at least one threshold;, "the artificial neural network classifying, based on the image data, the occupant's perception of radiant flux transmitted through the window, the classifying comprising"}at least one controller carried onboard the vehicle; andthe at least one controller changing the transmittance of the window based on the occupant perception of radiant flux corresponding to the selected class of occupant configuration.2. The system ...

Methods and Systems for Opening of a Vehicle Access Point Using Audio or Video Data Associated with a User

Methods and systems for opening an access point of a vehicle. A system and a method may involve receiving wirelessly a signal from a remote controller carried by a user. The system and the method may further involve receiving audio or video data indicating the user approaching the vehicle. The system and the method may also involve determining an intention of the user to access an interior of the vehicle based on the audio or video data. The system and the method may also involve opening an access point of the vehicle responsive to the determining of the intention of the user to access the interior of the vehicle. 1. A method comprising:receiving, by a system on a vehicle, audio or video data indicating a user approaching the vehicle;determining, by the system, an intention of the user with respect to accessing an interior of the vehicle based on the audio or video data and one or more types of business in a vicinity of the vehicle; andopening, by the system, an access point of the vehicle responsive to the determining.2. The method of claim 1 , wherein the receiving of the audio or video data indicating the user approaching the vehicle comprises receiving claim 1 , from a camera claim 1 , a video indicating the user approaching the vehicle.3. The method of claim 1 , wherein the determining of the intention of the user comprises analyzing the video data to determine whether the user lacks a free hand or is unable to manually open a door at the access point.4. The method of claim 3 , wherein the video data indicates the user approaching the vehicle with a cart claim 3 , with a stroller claim 3 , with a walker claim 3 , or with a wheelchair.5. The method of claim 1 , wherein the determining of the intention of the user comprises analyzing the video data to detect a fixed gaze at the vehicle by the user for a predetermined period of time.6. The method of claim 1 , wherein the determining of the intention of the user comprises analyzing the video data to detect an ...

Methods And Systems For Automatically Detecting And Responding To Dangerous Road Conditions

A method for automatically detecting and safely traversing an accumulation of ice on an impending bridge. The method automatically identifies, by the vehicle, impending approach of the vehicle to a bridge and senses an accumulation of ice on the bridge. The method then calculates a speed of the vehicle needed to prevent longitudinal slip between the vehicle and the bridge, and automatically slows the vehicle at a rate sufficient to enable the vehicle to reach the calculated speed by the time it reaches the bridge. A corresponding system is also disclosed and claimed herein. 1. A method comprising:automatically identifying, by a vehicle, an impending traversal of the vehicle over a bridge;sensing, at the vehicle, at least one condition indicating an accumulation of ice on the bridge;calculating a speed of the vehicle needed to prevent longitudinal slip between the vehicle and the bridge; andautomatically slowing the vehicle at a rate sufficient to enable the vehicle to reach the calculated speed by the time it reaches the bridge.2. The method of claim 1 , wherein identifying the impending traversal further comprises using a global positioning system to determine a traveled route of the vehicle and a location of the vehicle on the traveled route.3. The method of claim 2 , wherein identifying the impending traversal further comprises determining claim 2 , using map data claim 2 , a location of the bridge on the traveled route.4. The method of claim 3 , wherein identifying the impending traversal further comprises determining a distance to the bridge by comparing the location of the vehicle to the location of the bridge along the traveled route.5. The method of claim 2 , further comprising automatically obtaining claim 2 , by the vehicle claim 2 , at least one of a current and historical weather report for a geographical area in which the bridge is located.6. The method of claim 1 , wherein sensing comprises sensing using at least one sensor selected from the group ...

Systems, Methods, and Devices For Communicating Drive History Path Attributes

A method for providing path attributes to controllers in a vehicle includes managing a subscription list that indicates what type of messages or data to which each of a plurality of controllers of a vehicle are subscribed. The method includes determining a future driving path for the vehicle and determining forward path attributes for the future driving path based on a drive history. The method includes selecting one or more controllers from the plurality of controllers to receive each of the forward path attributes based on the subscription list. The method includes providing each of the forward path attributes to the selected one or more controllers. The forward path attributes are provided using a common protocol for each of the plurality of controllers and two or more of the plurality of controllers receive a specific path attribute via a single message. 1. A method comprising:managing a subscription list that indicates what type of messages or data to which each of a plurality of controllers of a vehicle are subscribed;determining a future driving path for the vehicle;determining forward path attributes for the future driving path based on a drive history;selecting one or more controllers from the plurality of controllers to receive each of the forward path attributes based on the subscription list; andproviding each of the forward path attributes to the selected one or more controllers, wherein the forward path attributes are provided using a common protocol for each of the plurality of controllers, wherein two or more of the plurality of controllers receive a specific path attribute via a single message.2. The method of claim 1 , wherein the plurality of controllers control operation of the vehicle during driving of the future driving path based on the forward path attributes.3. The method of claim 1 , wherein the forward path attributes comprise one or more of road geometry claim 1 , speed limits claim 1 , previous actual driving speeds of the vehicle or ...

Perceiving Roadway Conditions from Fused Sensor Data

The present invention extends to methods, systems, and computer program products for perceiving roadway conditions from fused sensor data. Aspects of the invention use a combination of different types of cameras mounted to a vehicle to achieve visual perception for autonomous driving of the vehicle. Each camera in the combination of cameras generates sensor data by sensing at least part of the environment around the vehicle. The sensor data form each camera is fused together into a view of the environment around the vehicle. Sensor data from each camera (and, when appropriate, each other type of sensor) is fed into a central sensor perception chip. The central sensor perception chip uses a sensor fusion algorithm to fuse the sensor data into a view of the environment around the vehicle. 1. A method for perceiving a roadway , the method comprising:receiving sensor data from a plurality of cameras, the sensor data sensed within a distance threshold of a vehicle and within a field-of-view for each camera;receiving other sensor data from another camera, the other sensor data sensed from beyond the distance threshold within another narrower field-of-view; andfusing the sensor data and the other sensor data into a roadway view of the roadway.2. The method of claim 1 , further comprising autonomously controlling the vehicle by adjusting the configuration of vehicle to control components of the vehicle based on the roadway view.3. The method of claim 1 , wherein receiving sensor data from a plurality of cameras comprises receiving Infrared (IR) sensor data.4. The method of claim 1 , wherein receiving other sensor data from another camera comprises receiving image sensor data and LIDAR sensor data from the other camera as the other camera switches between a camera mode and a LIDAR mode.5. The method of claim 4 , wherein receiving sensor data from the other camera comprises receiving sensor data for an object sensed between the distance threshold and another distance ...

Passenger tracking systems and methods

Example passenger validation systems and methods are described. In one implementation, a method receives, at a vehicle, a transport request indicating a passenger and a pick-up location. The vehicle drives to the pick-up location and authenticates the passenger at the pick-up location. If the passenger is successfully authenticated, the method unlocks the vehicle doors to allow access to the vehicle, determines a number of people entering the vehicle, and confirms that the number of people entering the vehicle matches a number of passengers associated with the transport request.

Passenger tracking systems and methods

Example passenger validation systems and methods are described. In one implementation, a method receives, at a vehicle, a transport request indicating a passenger and a pick-up location. The vehicle drives to the pick-up location and authenticates the passenger at the pick-up location. If the passenger is successfully authenticated, the method unlocks the vehicle doors to allow access to the vehicle, determines a number of people entering the vehicle, and confirms that the number of people entering the vehicle matches a number of passengers associated with the transport request.

VEHICLE RADAR PERCEPTION AND LOCALIZATION

The disclosure relates to methods, systems, and apparatuses for autonomous driving vehicles or driving assistance systems and more particularly relates to vehicle radar perception and location. The vehicle driving system disclosed may include a storage media, a radar system, a location component and a driver controller. The storage media stores a map of roadways. The radar system is configured to generate perception information from a region near the vehicle. The location component is configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data. The drive controller is configured to control driving of the vehicle based on the map and the determined location. 1. A vehicle driving system , comprising:storage media storing a map of roadways;a radar system configured to generate radar perception information from a region near a vehicle;a location component configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data; anda drive controller configured to control driving of the vehicle based on the map and the determined location.2. The vehicle driving system of claim 1 , wherein the vehicle driving system is autonomous and further comprises one or more additional sensor units and a data quality component configured to determine that one or more sensor units are not providing usable data or are damaged claim 1 , wherein the location component is configured to determine the location of the vehicle based on the radar perception information in response to determining that the one or more sensor units are not providing usable data or are damaged.3. The vehicle driving system of claim 2 , wherein the data quality component is configured to determine that the one or more sensor units are not providing usable data or are damaged based on one or more of:current weather conditions; anddetermining the one or more sensor units are not ...

PASSENGER VALIDATION SYSTEMS AND METHODS

Example passenger validation systems and methods are described. In one implementation, a method receives, at a vehicle, a transport request indicating a passenger and a pick-up location. The vehicle drives to the pick-up location and authenticates the passenger at the pick-up location. If the passenger is successfully authenticated, the method unlocks the vehicle doors to allow access to the vehicle, determines a number of people entering the vehicle, and confirms that the number of people entering the vehicle matches a number of passengers associated with the transport request. 1. A method comprising:receiving a transport request at a vehicle, the transport request indicating a passenger and a pick-up location;driving to the pick-up location;authenticating the passenger at the pick-up location; unlocking vehicle doors to allow access to the vehicle;', 'determining a number of people entering the vehicle; and', 'confirming that the number of people entering the vehicle matches a number of passengers associated with the transport request., 'responsive to successfully authenticating the passenger2. The method of claim 1 , further comprising: notifying the passenger that authentication failed; and', 'providing instructions for making a transport request., 'responsive to not successfully authenticating the passenger3. The method of claim 1 , wherein authenticating the passenger at the pick-up location includes:capturing an image of the passenger's face using a vehicle-mounted camera;identifying an image of the passenger in a user profile; andapplying a facial recognition algorithm to determine whether the captured image substantially matches the image in the user profile.4. The method of claim 1 , wherein authenticating the passenger at the pick-up location includes:identifying a unique identifier associated with a mobile device in the passenger's user profile; anddetermining if the passenger is currently carrying a mobile device with the unique identifier.5. The method ...

ICE AND SNOW DETECTION SYSTEMS AND METHODS

Example ice and snow detection systems and methods are described. In one implementation, a method activates an ice and snow detection system in response to receiving weather data indicating a likelihood of ice or snow on a roadway near a vehicle. The method receives data from multiple vehicle sensors and analyzes the received data to identify ice or snow on the roadway. If ice or snow is identified on the roadway, the method adjusts vehicle operations and reports the ice or snow condition to a shared database. 1. A method comprising:activating an ice and snow detection system responsive to receiving weather data indicating a likelihood of ice or snow on a roadway proximate a vehicle;receiving data from a plurality of vehicle sensors;analyzing the received data to identify ice or snow on the roadway; and adjusting vehicle operations; and', 'reporting the ice or snow condition to a shared database., 'responsive to identification of ice or snow on the roadway2. The method of claim 1 , further comprising fusing the data received from the plurality of vehicle sensors.3. The method of claim 1 , wherein analyzing the received data to identify ice or snow on the roadway includes:determining a current height of the roadway surface;comparing the current height of the roadway surface to a previously recorded height of the roadway surface; anddetermining that ice or snow is present on the roadway if the current height of the roadway surface is greater than the previously recorded height of the roadway surface.4. The method of claim 1 , wherein analyzing the received data to identify ice or snow on the roadway includes:determining a current reflectivity of the roadway surface;comparing the current reflectivity of the roadway surface to a previously recorded reflectivity of the roadway surface; anddetermining that ice or snow is present on the roadway if the current reflectivity of the roadway surface is greater than the previously recorded reflectivity of the roadway surface.5. ...

METAL BRIDGE DETECTION SYSTEMS AND METHODS

Example metal bridge detection systems and methods are described. In one implementation, a method receives LIDAR data from a LIDAR system mounted to a vehicle and receives camera data from a camera system mounted to the vehicle. The method analyzes the received LIDAR data and the camera data to identify a metal bridge proximate the vehicle. If a metal bridge is identified, the method adjusts vehicle operations to improve vehicle control as it drives across the metal bridge. 1. A method comprising:receiving LIDAR data from a LIDAR system mounted to a vehicle;receiving camera data from a camera system mounted to the vehicle;analyzing the received LIDAR data and the camera data to identify a metal bridge proximate the vehicle; andresponsive to identifying a metal bridge proximate the vehicle, adjusting vehicle operations to improve vehicle control as it drives across the metal bridge.2. The method of claim 1 , further comprising activating a metal bridge detection system responsive to receiving weather data indicating a likelihood of ice or snow proximate the vehicle.3. The method of claim 1 , further comprising receiving navigational information that indicates the existence of a bridge ahead of the vehicle.4. The method of claim 1 , further comprising reporting the existence of the metal bridge to a shared database.5. The method of claim 4 , wherein reporting the existence of the metal bridge to a shared database includes reporting a geographic location associated with the metal bridge.6. The method of claim 1 , wherein adjusting vehicle operations includes:determining the vehicle's longitudinal slip; andresponsive to determining a non-zero longitudinal slip, reducing the speed of the vehicle until the longitudinal slip is zero.7. The method of claim 1 , wherein the metal bridge is a metal grate bridge.8. The method of claim 7 , wherein at least a portion of the metal grate bridge includes a metal road surface that has apertures therethrough.9. The method of claim 7 , ...

Drive History Parking Barrier Alert

A driving assistance system includes a drive detection component, a presence component, and a notification component. The drive detection component is configured to determine that a vehicle or driver is exiting or preparing to exit a parking location. The presence component is configured to determine, from a drive history database, whether a parking barrier is present in front of or behind the parking location. The notification component is configured to provide an indication that the parking barrier is present to a human driver or an automated driving system of the vehicle. 1. A system comprising:a drive detection component configured to determine that a vehicle or driver is exiting or preparing to exit a parking location;a presence component configured to determine, from a drive history database, whether a parking barrier is present at the parking location, wherein the presence component determines whether the parking barrier is present in response to determining that the vehicle or driver is exiting or preparing to exit the parking location; anda notification component configured to provide an indication that the parking barrier is present to a human driver or an automated driving system of the vehicle.2. The system of claim 1 , wherein the presence component is configured to determine whether the parking barrier is present in response to determining that the vehicle is currently parked at the parking location.3. The system of claim 1 , wherein the notification component is configured to provide one or more of a visual indication and an audio indication of the presence of the parking barrier to a human driver.4. The system of claim 1 , wherein the notification component is configured to provide the indication by sending a message to the automated driving system.5. The system of claim 1 , wherein the notification component is further configured to provide an indication of a location of the parking barrier.6. The system of claim 1 , wherein the drive detection ...

Parking Obstruction Locator and Height Estimator

Systems, methods and apparatuses are disclosed for assessing whether a vehicle will make contact with an obstacle. The systems, methods, and apparatuses may include an obstacle sensing component configured to determine a location and a dimension of an obstacle, a vehicle sensing component configured to determine a height of a point of the vehicle relative to the ground, and a notification component configured to provide an indication of a presence of the obstacle to assist a human driver or an automated driving system in parking the vehicle without making contact with the obstacle. 1. A system comprising:an obstacle sensing component configured to determine a location and a dimension of an obstacle, wherein the dimension comprises a height of the obstacle with respect to a ground surface;a vehicle sensing component configured to determine a height of a point on a vehicle relative to the ground surface, wherein the vehicle sensing component determines the height based on sensor data; update a drive history to include an indication of a presence and the height of the obstacle in response to the vehicle parking at a location near the obstacle;', 'retain the location of the object in memory in response to parking the vehicle or the vehicle being turned off; and', 'check the drive history for information about any obstacles near the parking location in response to the vehicle or driver preparing to exit the parking location; and, 'a drive history component configured toa notification component configured to provide an indication of a presence of the obstacle to assist a driver or vehicle in exiting the parking location without making contact with the obstacle.2. The system of claim 1 , wherein the obstacle sensing component receives data from one or more of a radar system claim 1 , an ultrasound system claim 1 , a LIDAR system claim 1 , a camera system claim 1 , a GPS system claim 1 , and a vehicle data storage device.3. The system of claim 1 , wherein the vehicle ...

Multi-Sensor Precipitation-Classification Apparatus and Method

A vehicle is disclosed that uses data from different types of on-board sensors to determine whether meteorological precipitation is failing near the vehicle. The vehicle may include an on-board camera capturing image data and an on-board accelerometer capturing accelerometer data. The image data may characterize an area in front of or behind the vehicle. The accelerometer data may characterize vibrations of a windshield of the vehicle. An artificial neural network may run on computer hardware carried on-board the vehicle. The artificial neural network may be trained to classify meteorological precipitation in an environment of the vehicle using the image data and the accelerometer data as inputs. The classifications of the artificial neural network may be used to control one or more functions of the vehicle such as windshield-wiper speed, traction-control settings, or the like. 1. A vehicle comprising:a camera outputting image data;a windshield;an accelerometer outputting accelerometer data characterizing vibration of the windshield;an artificial neural network trained to classify meteorological precipitation in an environment of the vehicle using the image data and the accelerometer data as inputs; andat least one actuator controlling at least one function of the vehicle based on classifications made by the artificial neural network.2. The vehicle of claim 1 , wherein the camera is secured to the vehicle and oriented so as to be forward facing.3. The vehicle of claim 1 , wherein the camera is secured to the vehicle and oriented so as to be rearward facing.4. The vehicle of claim 1 , wherein the image data comprises multiple consecutive images captured by the camera over a period of less than ten seconds.5. The vehicle of claim 4 , further comprising at least one windshield wiper and wherein the at least one function comprises a speed of the at least one windshield wiper.6. The vehicle of claim 5 , further comprising a drivetrain having one or more tires.7. The ...

Roadway-Crossing-Anomaly Detection System and Method

A method for improving the safety and comfort of a vehicle driving over a railroad track, cattle guard, or the like. The method may include receiving, by a computer system, one or more inputs corresponding to one or more forward looking sensors. The computer system may also receive data characterizing a motion of the vehicle. The computer system may estimate, based on the one or more inputs and the data, a motion of a vehicle with respect to a railroad track, cattle guard, or the like extending across a road ahead of the vehicle. Accordingly, the computer system may change a suspension setting, steering setting, or the like of the vehicle to more safely or comfortably drive over the railroad track, cattle guard, or the like.

Systems, Methods, and Devices For Communicating Drive History Path Attributes

A method for providing path attributes to controllers in a vehicle includes receiving drive history data for a future driving path of the vehicle, wherein the drive history data comprises a first data format. The method includes generating a message for a controller comprising path attributes from the drive history data according to a subscription list, wherein the message comprises a controller data format based on an indication by the subscription list. The method further includes providing one or more data packets comprising the message to the controller.

VEHICLE-WINDOW-TRANSMITTANCE-CONTROL APPARATUS AND METHOD

A vehicle is disclosed that includes systems for adjusting the transmittance of one or more windows of the vehicle. The vehicle may include a camera outputting images taken of an occupant within the vehicle. The vehicle may also include an artificial neural network running on computer hardware carried on-board the vehicle. The artificial neural network may be trained to classify the occupant of the vehicle using the images captured by the camera as input. The vehicle may further include a controller controlling transmittance of the one or more windows based on classifications made by the artificial neural network. For example, if the artificial neural network classifies the occupant as squinting or shading his or her eyes with a hand, the controller may reduce the transmittance of a windshield, side window, or some combination thereof. 1. A vehicle comprising:a camera outputting image data corresponding to one or more images taken of an occupant within the vehicle;a window having variable transmittance;an artificial neural network trained to classify the occupant of the vehicle by generating affinity scores for two or more classes using the image data as an input; andat least one controller controlling transmittance of the window based on classifications made by the artificial neural network.2. The vehicle of claim 1 , wherein the two or more classes comprise wearing sun glasses and not wearing sun glasses.3. The vehicle of claim 1 , wherein the two or more classes comprise occupant is an infant and occupant is not an infant.4. The vehicle of claim 1 , wherein the two or more classes comprise occupant is shading eyes with hand and occupant is not shading eyes with hand.5. The vehicle of claim 1 , wherein the two or more classes comprises skin pigmentation below a first level and skin pigmentation above a second level that is equal to or greater than the first level.6. The vehicle of claim 1 , further comprising at least one light sensor outputting light data ...

DETECTING AND RESPONDING TO EMERGENCY VEHICLES IN A ROADWAY

The present invention extends to methods, systems, and computer program products for detecting and responding to emergency vehicles in a roadway. Aspects of the invention can be used to detect emergency vehicles and properly yield to emergency vehicles depending on roadway configuration. A vehicle includes a plurality of sensors. The vehicle also includes vehicle to vehicle (V2V) communication capabilities and has access to map data. Sensor data from the plurality of sensors along with map data is provided as input to a neural network (either in the vehicle or in the cloud). Based on sensor data, the neural network detects when one or more emergency vehicles are approaching the vehicle. From a roadway configuration, a vehicle can use the plurality of sensors to automatically (and safely) yield to detected emergency vehicle(s). Automatically yielding can include one or more of: slowing down, changing lanes, stopping, etc. 1. At a vehicle , a method for yielding to an emergency vehicle comprising:accessing sensor data from a plurality of sensors at the vehicle;detect that the emergency vehicle is approaching the vehicle on a roadway based on the accessed sensor data;determining a yield strategy for the vehicle to yield to the emergency vehicle based on additional sensor data; andautomatically controlling vehicle components to cause the vehicle to implement the yield strategy.2. The method of claim 1 , further comprising:accessing the additional sensor data from the plurality of sensors; andreceiving vehicle to vehicle communication from the emergency vehicle, the vehicle to vehicle communication notifying the vehicle of an intended path of the emergency vehicle.3. The method of claim 2 , wherein determining a yield strategy for the vehicle to yield to the emergency vehicle comprises determining a yield strategy based on the intended path of the emergency vehicle and the additional sensor data accessed from the plurality of sensors.4. The method of claim 1 , wherein ...

Detecting Hazards In Anticipation Of Opening Vehicle Doors

The present invention extends to methods, systems, and computer program products for detecting hazards in anticipation of opening vehicle doors. Vehicle sensors (e.g., rear viewing cameras) can be used to detect and classify traffic, for example, as pedestrians, bicyclists, skateboarders, roller skaters, wheel chair, etc., approaching on the side of a vehicle. When there is a possibility of a vehicle occupant opening a door into approaching traffic, a warning can be issued in the vehicle cabin to alert vehicle occupants of the approaching traffic. In one aspect, a vehicle prevents a door from opening if opening the door would likely cause an accident.

SINKHOLE DETECTION SYSTEMS AND METHODS

Example sinkhole detection systems and methods are described. In one implementation, a method receives data from multiple sensors mounted to a vehicle and analyzes the received data to identify a sinkhole in a roadway ahead of the vehicle. If a sinkhole is identified, the method adjusts vehicle operations and reports the sinkhole to a shared database and/or another vehicle. 1. A method comprising:receiving data from a plurality of sensors mounted to a vehicle;analyzing, using one or more processors, the received data to identify a sinkhole in a roadway ahead of the vehicle; and adjusting vehicle operations; and', 'reporting the sinkhole to at least one of a shared database and another vehicle., 'responsive to identification of a sinkhole in the roadway2. The method of claim 1 , wherein the plurality of sensors include one or more of a Lidar sensor claim 1 , a radar sensor claim 1 , and a camera.3. The method of claim 1 , further comprising fusing the data received from the plurality of vehicle sensors.4. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting an area in the roadway that does not return Lidar ground plane points.5. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting an area in data from a camera that does not indicate a roadway surface.6. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting a sudden descent of another vehicle on the roadway.7. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting a sudden rise of a back of another vehicle on the roadway.8. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes:receiving elevation data associated with the roadway ahead of the vehicle;determining an expected elevation of a second vehicle on the roadway ...

User identification systems and methods

Example user identification systems and methods are described. In one implementation, a method determines a first step pulse associated with a user carrying a key fob and detects a user device proximate the key fob. The method further identifies a second step pulse measured by the user device and determines whether the first and second step pulses match. If the step pulses match, the user carrying the key fob is identified as the owner of the user device.

Virtual Sensor Data Generation For Wheel Stop Detection

The disclosure relates to methods, systems, and apparatuses for virtual sensor data generation and more particularly relates to generation of virtual sensor data for training and testing models or algorithms to detect objects or obstacles, such as wheel stops or parking barriers. A method for generating virtual sensor data includes simulating a three-dimensional (3D) environment comprising one or more objects. The method includes generating virtual sensor data for a plurality of positions of one or more sensors within the 3D environment. The method includes determining virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth includes information about at least one object within the virtual sensor data. The method also includes storing and associating the virtual sensor data and the virtual ground truth. 1. A method comprising:simulating, using one or more processors, a three-dimensional (3D) environment comprising one or more parking barriers;generating, using one or more processors, virtual sensor data for a plurality of positions of one or more sensors within the 3D environment;determining, using one or more processors, virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth comprises a height of the at least one of the parking barriers; andstoring and associating the virtual sensor data and the virtual ground truth using one or more processors.2. The method of claim 1 , further comprising providing one or more of the virtual sensor data and the virtual ground truth for training or testing of a machine learning algorithm or model.3. The method of claim 2 , wherein the machine learning model or algorithm comprises a neural network.4. The method of claim 2 , wherein training the machine learning algorithm or model comprises providing at least a portion of the virtual sensor data and corresponding virtual ground truth to train the machine learning algorithm or model to determine one ...

Recovering Braking Energy Via Dynamic Mobile Wireless Power Transfer

Systems and methods for recovering brake energy via dynamic wireless power transfer. The system may include a first charging pad disposed at a first location of a road structure and configured to receive an electric power wirelessly from a contributing vehicle. The system may further include a second charging pad disposed at a second location of the road structure and configured to receive the electric power from the first charging pad and charge a receiving vehicle wirelessly with at least a portion of the electric power. 1. A system comprising:a first charging pad disposed at a first location of a road structure and configured to receive an electric power wirelessly from a contributing vehicle; anda second charging pad disposed at a second location of the road structure and configured to receive the electric power from the first charging pad and charge a receiving vehicle wirelessly with at least a portion of the electric power.2. The system of claim 1 , wherein the first charging pad is disposed on claim 1 , below or in a first portion of the road structure where more vehicles decelerate than accelerate claim 1 , and wherein the second charging pad is disposed on claim 1 , below or in a second portion of the road structure where more vehicles accelerate than decelerate.3. The system of claim 2 , wherein the road structure comprises a highway access claim 2 , wherein the first portion of the road structure comprises an exit ramp of the highway access claim 2 , and wherein the second portion of the road structure comprises an entrance ramp of the highway access.4. The system of claim 2 , wherein the road structure comprises an underpass or an overpass claim 2 , wherein the first portion of the road structure comprises an downward ramp of the underpass or the overpass claim 2 , and wherein the second portion of the road structure comprises an upward ramp of the underpass or the overpass.5. The system of claim 2 , wherein the road structure comprises a two-way road ...

Ride Control Systems And Methods

Example ride control systems and methods are described. In one implementation, a method receives a request to initiate a drive session to help a baby fall asleep in a vehicle. The method identifies a driving route for the drive session and implements the drive session by following the driving route. One or more vehicle-mounted sensors determine whether the baby in the vehicle has fallen asleep during the drive session.

Bollard Receiver Identification

The disclosure relates generally to methods, systems, and apparatuses for automated or assisted driving and more particularly relates to identification, localization, and navigation with respect to bollard receivers. A method for detecting bollard receivers includes receiving perception data from one or more perception sensors of a vehicle. The method includes determining, based on the perception data, a location of one or more bollard receivers in relation to a body of the vehicle. The method also includes providing an indication of the location of the one or more bollard receivers to one or more of a driver and component or system that makes driving maneuver decisions. 1. A method comprising:receiving perception data from a perception sensor of a vehicle;determining, based on the perception data, a location of a bollard receiver in relation to a body of the vehicle; anddetermining a driving maneuver based on the location of the bollard receiver, wherein the driving maneuver causes one or more tires of the vehicle to impact the bollard receiver.2. The method of claim 1 , further comprising determining the location in relation to the body of the vehicle based on information from a controller area network (CAN) bus of the vehicle.3. The method of claim 1 , wherein determining the location comprises determining based on the perception data and further based on a vehicle driving history.4. The method of claim 1 , wherein the perception sensor comprises two or more of a camera claim 1 , a radar sensor claim 1 , a light detection and ranging (LIDAR) sensor claim 1 , and an ultrasound sensor.5. The method of claim 1 , wherein the driving maneuver causes one or more tires of the vehicle to impact the bollard receiver with a tread portion of the one or more tires such that a sidewall portion of the one or more tires does not come in contact with the bollard receiver.6. The method of claim 1 , further comprising determining a height of the bollard receiver based on the ...

Drive History Parking Barrier Alert

A driving assistance system includes a drive detection component, a presence component, and a notification component. The drive detection component is configured to determine that a vehicle or driver is exiting or preparing to exit a parking location. The presence component is configured to determine, from a drive history database, whether a parking barrier is present in front of or behind the parking location. The notification component is configured to provide an indication that the parking barrier is present to a human driver or an automated driving system of the vehicle.

Vehicle occupancy indication and utilization thereof

Techniques pertaining to vehicle occupancy indication and utilization thereof are described. A method may involve determining occupancy information regarding a number of occupants in a vehicle. The method may also involve indicating the occupancy information in either or both of a human-perceivable way and a machine-perceivable way.

Wind Detection Systems And Methods

Example wind detection systems and methods are described. In one implementation, a method receives data from a vehicle-mounted sensor and determines whether airborne particles are identified in the received data. If airborne particles are identified in the received data, the method determines a wind speed and a wind direction based on movement of the airborne particles and determines a best action to avoid or mitigate the impact of the wind. 1. A method comprising:receiving data from a vehicle-mounted sensor mounted to a vehicle, the vehicle-mounted sensor being a camera;determining, by a wind detection system, whether airborne particles are identified in the received data by analyzing an image from the camera; andresponsive to determining that airborne particles are identified in the received data:determining a wind speed and a wind direction based on movement of the airborne particles; anddetermining, by the wind detection system, a best action to avoid or mitigate a wind-caused impact on the vehicle.2. The method of claim 1 , wherein the vehicle-mounted sensor includes one or more of a LIDAR sensor claim 1 , a radar sensor claim 1 , and a camera.3. The method of claim 1 , further comprising implementing the best action to avoid or mitigate the wind-caused impact on the vehicle.4. The method of claim 1 , further comprising reporting the wind speed claim 1 , wind direction claim 1 , and best action to other nearby vehicles.5. The method of claim 1 , further comprising reporting the wind speed claim 1 , wind direction claim 1 , and best action to an infrastructure-based system.6. The method of claim 1 , wherein the vehicle-mounted sensor is a LIDAR system.7. The method of claim 1 , wherein the vehicle-mounted sensor includes one or more of a LIDAR system claim 1 , a radar system claim 1 , and a camera system.8. The method of claim 1 , wherein the airborne particles include one or more of dirt particles claim 1 , vegetation particles claim 1 , trash particles claim 1 ...

Roadway-Crossing-Anomaly Detection System and Method

A method for improving the safety and comfort of a vehicle driving over a railroad track, cattle guard, or the like. The method may include receiving, by a computer system, one or more inputs corresponding to one or more forward looking sensors. The computer system may also receive data characterizing a motion of the vehicle. The computer system may estimate, based on the one or more inputs and the data, a motion of a vehicle with respect to a railroad track, cattle guard, or the like extending across a road ahead of the vehicle. Accordingly, the computer system may change a suspension setting, steering setting, or the like of the vehicle to more safely or comfortably drive over the railroad track, cattle guard, or the like. 1. A method comprising:receiving, by a computer system, one or more inputs corresponding to one or more sensors;estimating, by the computer system based on the one or more inputs, a motion of a vehicle with respect to a anomaly extending across a road ahead of the vehicle; andchanging, by the computer system, a suspension setting of the vehicle to more safely or comfortably drive over the anomaly.2. The method of claim 1 , wherein at least one of the one or more sensors comprises a forward-looking sensor characterizing a driving environment ahead of the vehicle.3. The method of claim 2 , wherein at least one of the one or more sensors comprises a device providing data to the computer system via a CAN bus of the vehicle.4. The method of claim 3 , wherein the anomaly is a railroad track or a cattle guard.5. The method of claim 4 , wherein the forward looking sensor is selected from the group consisting of an ultrasonic transducer claim 4 , a laser scanner claim 4 , a LiDAR device claim 4 , a radar device claim 4 , and a camera.6. The method of claim 5 , wherein the data provided by the device characterizes the attitude of the vehicle in at least one of pitch claim 5 , roll claim 5 , and yaw.7. The method of claim 6 , wherein:the anomaly is a ...

BOLLARD RECEIVER IDENTIFICATION

The disclosure relates generally to methods, systems, and apparatuses for automated or assisted driving and more particularly relates to identification, localization, and navigation with respect to bollard receivers. A method for detecting bollard receivers includes receiving perception data from one or more perception sensors of a vehicle. The method includes determining, based on the perception data, a location of one or more bollard receivers in relation to a body of the vehicle. The method also includes providing an indication of the location of the one or more bollard receivers to one or more of a driver and component or system that makes driving maneuver decisions. 1. A method comprising:receiving perception data from one or more perception sensors of a vehicle;determining, based on the perception data, a location of one or more bollard receivers in relation to a body of the vehicle, wherein determining the location comprises determining when corresponding bollards are removed from the one or more bollard receivers; andproviding an indication of the location of the one or more bollard receivers to one or more of a driver and driving maneuver decision component.2. The method of claim 1 , further comprising determining the location in relation to the body based on information from a controller area network (CAN) bus of the vehicle.3. The method of claim 1 , wherein determining the location comprises determining further based on a vehicle driving history.4. The method of claim 1 , wherein the one or more perception sensors comprise two or more of a camera claim 1 , a radar sensor claim 1 , a light detection and ranging (LIDAR) sensor claim 1 , a radar sensor claim 1 , and an ultrasound sensor.5. The method of claim 1 , further comprising determining a height of the bollard receiver based on the perception data.6. The method of claim 1 , further comprising determining a driving maneuver based on the location of the one or more bollard receivers.7. The method of ...

Tornado Detection Systems And Methods

Example tornado detection systems and methods are described. In one implementation, a method receives data from a sensor mounted to a vehicle and analyzes the received data using a deep neural network. The method determines whether a tornado is identified in the received data based on the analysis of the received data. If a tornado is identified in the received data, the method determines a trajectory of the tornado. 1. A method comprising:receiving data from a sensor mounted to a vehicle;analyzing the received data using a deep neural network;determining, by a tornado detection system in the vehicle, whether a tornado is identified in the received data based on the analysis of the received data; andresponsive to determining that a tornado is identified in the received data, determining a trajectory of the tornado.2. The method of claim 1 , wherein the sensor mounted to the vehicle includes at least one of a LIDAR sensor claim 1 , a radar sensor claim 1 , and a camera.3. The method of claim 1 , further comprising determining claim 1 , by the tornado detection system in the vehicle claim 1 , a path for the vehicle to avoid the tornado based on the trajectory of the tornado.4. The method of claim 3 , wherein determining a path for the vehicle to avoid the tornado is substantially orthogonal to the trajectory of the tornado.5. The method of claim 3 , wherein determining a path for the vehicle to avoid the tornado is substantially leading away from the trajectory of the tornado.6. The method of claim 3 , further comprising generating driving commands to drive the vehicle along the path.7. The method of claim 1 , further comprising determining claim 1 , by the tornado detection system in the vehicle claim 1 , a path for the vehicle to avoid the tornado based on the trajectory of the tornado claim 1 , a speed of the tornado claim 1 , a geographic location of the tornado claim 1 , and map data.8. The method of claim 1 , wherein the vehicle is an autonomous vehicle.9. The ...

SYSTEMS, METHODS, AND DEVICES FOR AUTOMATED VEHICLE AND DRONE DELIVERY

A method for package delivery includes identifying a plurality of delivery locations for package delivery. The method includes determining a driving route for an automated ground vehicle to optimize delivery to the delivery locations using one or more automated aerial vehicles. The method includes controlling the automated ground vehicle to navigate the delivery route. The method further includes determining timing for release of the one or more automated aerial vehicles during navigation of the delivery route to deliver packages to the plurality of delivery locations. 1. A method comprising:identifying a plurality of delivery locations for package delivery;determining a driving route for an automated ground vehicle to optimize delivery to the delivery locations using one or more automated aerial vehicles;controlling the automated ground vehicle to navigate the delivery route; anddetermining timing for release of the one or more automated aerial vehicles during navigation of the delivery route to deliver packages to the plurality of delivery locations.2. The method of claim 1 , wherein determining the driving route for the automated ground vehicle to optimize delivery using the one or more automated aerial vehicles comprises determining using a neural network.3. The method of claim 1 , wherein determining the timing for release of the one or more automated aerial vehicles during navigation of the delivery route to deliver packages to the plurality of delivery locations comprises determining using a neural network.4. The method of claim 1 , wherein determining timing for release of the one or more automated aerial vehicles comprises determining based on one or more of:current traffic conditions along the driving route;a flight range of an aerial vehicle of the one or more automated aerial vehicles;a speed of the automated ground vehicle; andone or more weather conditions.5. The method of claim 1 , wherein determining the driving route comprises determine a driving ...

METHODS AND SYSTEMS FOR OPENING OF A VEHICLE ACCESS POINT

Methods and systems for opening an access point of a vehicle. A system and a method may involve receiving wirelessly a signal from a remote controller carried by a user. The system and the method may further involve receiving audio or video data indicating the user approaching the vehicle. The system and the method may also involve determining an intention of the user to access an interior of the vehicle based on the audio or video data. The system and the method may also involve opening an access point of the vehicle responsive to the determining of the intention of the user to access the interior of the vehicle. 1. A method comprising:receiving wirelessly, by a system on a vehicle, a signal from a remote controller carried by a user;receiving, by the system, audio or video data indicating the user approaching the vehicle;determining, by the system, whether the user intends to access an interior of the vehicle based on the audio or video data; andopening, by the system, an access point of the vehicle responsive to the determining,wherein the receiving of the audio or video data indicating the user approaching the vehicle comprises receiving, from a camera, a video indicating the user approaching the vehicle, andwherein the determining of the intention of the user comprises analyzing the video to determine whether the user lacks a free hand or is unable to open a door at the access point manually.2. The method of claim 1 , wherein the audio or video data comprises a voice command from the user.3. (canceled)4. (canceled)5. The method of claim 1 , wherein the video indicates the user approaching the vehicle with a shopping cart claim 1 , with a baby stroller claim 1 , with a walker claim 1 , or in a wheelchair.6. The method of claim 1 , wherein the determining of the intention of the user comprises detecting a fixed gaze at the vehicle by the user for a predetermined period of time.7. The method of claim 1 , wherein the determining of the intention of the user ...

Object Detection For Vehicles

A vehicle includes a pair of cameras disposed on the vehicle and oriented to view an entrance to the vehicle. The vehicle also includes a processor configured to compare a profile image of a passenger's facial feature from one of the pair with a frontal image of the passenger's facial feature from the other of the pair. The processor is configured to lock the entrance to the vehicle in response to the facial features being different. 1. A vehicle comprising:a pair of cameras disposed on the vehicle and oriented to view an entrance to the vehicle; anda processor configured to compare a profile image of a passenger's facial feature from one of the pair with a frontal image of the passenger's facial feature from the other of the pair, and in response to the facial features being different, lock the entrance to prevent access to an interior of the vehicle by the passenger.2. The vehicle of claim 1 , wherein one of the pair is disposed on a side view mirror of the vehicle and the other of the pair is disposed in a passenger cabin of the vehicle.3. The vehicle of claim 1 , wherein the processor is further configured to generate a three dimensional model of the facial feature using the profile image and frontal image claim 1 , wherein the facial features are different when the three dimensional model is invalid.4. The vehicle of claim 1 , wherein the facial feature is a nose.5. The vehicle of claim 1 , wherein the facial feature is a chin of the passenger.6. A vehicle comprising:a pair of cameras disposed on the vehicle and oriented to view an entrance to the vehicle from different aspects; anda processor configured to compare a profile image of a passenger from one of the pair with a frontal image of the passenger from the other of the pair, and in response to the front and profile images corresponding to different shapes for a same facial structure, disable the vehicle.7. The vehicle of claim 6 , wherein the processor is further configured to lock the vehicle after the ...

Detecting Hazards In Anticipation Of Opening Vehicle Doors

The present invention extends to methods, systems, and computer program products for detecting hazards in anticipation of opening vehicle doors. Vehicle sensors (e.g., rear viewing cameras) can be used to detect and classify traffic, for example, as pedestrians, bicyclists, skateboarders, roller skaters, wheel chair, etc., approaching on the side of a vehicle. When there is a possibility of a vehicle occupant opening a door into approaching traffic, a warning can be issued in the vehicle cabin to alert vehicle occupants of the approaching traffic. In one aspect, a vehicle prevents a door from opening if opening the door would likely cause an accident. 1. A method for use at a vehicle , the method comprising:calculating a speed and direction of traffic approaching the vehicle from sensor data collected at the vehicle;determining that the traffic is to pass through a space adjacent to a vehicle door based on the calculated speed and direction of the traffic;determining that the vehicle door poses a hazard to the traffic based at least on: a traffic classification of the traffic, the traffic being determined to pass through the space, and a configuration of the vehicle; andpreventing the vehicle door from opening until the traffic passes the space.2. The method of claim 1 , wherein calculating a speed and a direction of traffic approaching the vehicle comprises calculating the speed and direction of the traffic from sensor data collected at one or more of: a camera claim 1 , a LIDAR sensor claim 1 , or an ultrasonic sensor.3. The method of claim 1 , further comprising receiving the traffic classification from a neural network.4. The method of claim 3 , wherein receiving the traffic classification comprises receiving a classification indicating that the traffic is one of: a walking pedestrian claim 3 , a bicyclist claim 3 , a skate boarder claim 3 , a wheel chair claim 3 , or a roller skater.5. The method of claim 1 , further comprising outputting a signal in the cabin ...

Systems, Methods, and Devices For Communicating Drive History Path Attributes

A method for providing path attributes to controllers in a vehicle includes determining a location of a vehicle and a future driving path for the vehicle. The method includes determining, based on a drive history for the vehicle or a driver of the vehicle, drive history path attributes for the future driving path. The method also includes providing the drive history path attributes to a plurality of controllers via a controller bus, wherein the drive history path attributes are provided to the plurality of controllers using a common protocol.

Systems, Methods, And Devices For Fusion Of Predicted Path Attributes And Drive History

A method for providing path attributes to controllers in a vehicle includes determining a most probable path for a vehicle. The method includes obtaining attributed predicted path attributes based on a map and obtaining drive history path attributes based on a drive history. The method further includes generating combined path attributes based on the path attributes from the attributed predicted path and the path attributes from the drive history. The method also includes providing the combined path attributes to one or more controllers.

PEDESTRIAN DETECTION AND MOTION PREDICTION WITH REAR-FACING CAMERA

Systems, methods, and devices for pedestrian detection are disclosed herein. A method includes receiving one or more images from a rear-facing camera on a vehicle. The method further includes determining that a pedestrian is present in the one or more images, predicting future motion of the pedestrian, and notifying a driver-assistance or automated driving system when a conflict exists between forward motion of the vehicle and the predicted future motion of the pedestrian.

System and methods for identifying unoccupied parking positions

A vehicle includes one or more laterally mounted microphones and a controller programmed to detect a signature of an unoccupied position adjacent the vehicle in outputs of the microphones. The signature may be identified using a machine learning algorithm. In response to detecting an unoccupied position, the controller may invoke autonomous parking, store the location of the unoccupied position for later use, and/or report the unoccupied position to a server, which then informs other vehicles of the available parking. The unoccupied position may be verified by evaluating whether map data indicates legal parking at that location. The unoccupied position may also be confirmed with one or more other sensors, such as a camera, LIDAR, RADAR, SONAR, or other type of sensor.

USING UNMANNED AERIAL VEHICLES TO INSPECT AUTONOMOUS VEHICLES

The present invention extends to methods, systems, and computer program products for using Unmanned Aerial Vehicles (UAVs) to inspect autonomous vehicles. An autonomous vehicle carries a UAV (or “drone”) in a protected area, for example, in a glove compartment, trunk, etc. Between rides, the UAV can be deployed to inspect the autonomous vehicle. Images from the UAV can be sent to other components for image analysis. When an inspection is completed, the UAV can return to the protected area. The UAV can inspect both the interior and exterior of an autonomous vehicle. When an inspection is passed, the autonomous vehicle can begin a new ride. When an inspection is failed, the autonomous vehicle can report for repairs or summon a tow vehicle. 1. A method , the method comprising:determining that the autonomous vehicle is to be inspected in accordance with inspection rules;receiving images of one or more of: interior vehicle components and exterior vehicle components of the autonomous vehicle from an Unmanned Aerial Vehicle (UAV) inspecting the autonomous vehicle;forwarding the images for image analysis; andreceiving instructions instructing the autonomous vehicle how to proceed based on the image analysis of the images.2. The method of claim 1 , further comprising releasing the Unmanned Aerial Vehicle (UAV) from a protected area within the autonomous vehicle to inspect the autonomous vehicle after detecting termination of a fare-based ride given to one or more passengers.3. The method of claim 3 , further comprising capturing the Unmanned Aerial Vehicle (UAV) in the protected area after the inspection is completed.4. The method of claim 1 , wherein receiving images from an Unmanned Aerial Vehicle (UAV) comprises receiving images from the Unmanned Aerial Vehicle (UAV) as the Unmanned Aerial Vehicle (UAV) flies around the autonomous vehicle.5. The method of claim 1 , wherein receiving images from an Unmanned Aerial Vehicle (UAV) comprises receiving images captured by the ...

Detecting an Animal Proximate a Vehicle

Example systems and methods for detecting an animal proximate a vehicle are described. In one implementation, a wearable device carried by an animal is activated when the wearable device is within a predetermined distance of a vehicle. The vehicle receives a signal from the wearable device and determines an approximate distance between the wearable device and the vehicle. An alert is generated to warn a driver that an animal is near the vehicle. The alert has an intensity level that corresponds to the approximate distance between the wearable device and the vehicle. 1. A method comprising:activating a wearable device carried by an animal when the wearable device is within a predetermined distance of a vehicle;the vehicle receiving a signal from the wearable device that identifies the wearable device as being carried by an animal; andgenerating, by one or more processors, an alert to a driver of the vehicle at an intensity level that corresponds to an approximate distance between the wearable device and the vehicle.2. The method of claim 1 , further comprising deactivating the wearable device when the wearable device is beyond the predetermined distance from the vehicle.3. The method of claim 1 , further comprising changing a status of the wearable device to an energy-saving mode when the wearable device is beyond the predetermined distance from the vehicle.4. The method of claim 1 , further comprising recharging a battery in the wearable device by converting kinetic energy from the animal into electrical energy.5. The method of claim 1 , wherein the alert is a flashing symbol presented to the driver of the vehicle claim 1 , the flashing symbol indicating that an animal is proximate the vehicle.6. The method of claim 1 , wherein the alert is an audible notification that an animal is proximate the vehicle.7. The method of claim 1 , wherein the intensity level of the alert is a frequency at which a symbol is flashed on a vehicle dashboard.8. The method of claim 1 , ...

Virtual Sensor Data Generation For Wheel Stop Detection

The disclosure relates to methods, systems, and apparatuses for virtual sensor data generation and more particularly relates to generation of virtual sensor data for training and testing models or algorithms to detect objects or obstacles. A method for generating virtual sensor data includes simulating, using one or more processors, a three-dimensional (3D) environment comprising one or more virtual objects. The method includes generating, using one or more processors, virtual sensor data for a plurality of positions of one or more sensors within the 3D environment. The method includes determining, using one or more processors, virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth comprises a dimension or parameter of the one or more virtual objects. The method includes storing and associating the virtual sensor data and the virtual ground truth using one or more processors. 1. A method comprising:simulating, using one or more processors, a three-dimensional (3D) environment comprising one or more virtual objects;generating, using one or more processors, virtual sensor data for a plurality of positions of one or more sensors within the 3D environment;determining, using one or more processors, virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth comprises a dimension or parameter of the one or more virtual objects; andstoring and associating the virtual sensor data and the virtual ground truth using one or more processors.2. The method of claim 1 , further comprising providing one or more of the virtual sensor data and the virtual ground truth for training or testing of a machine learning algorithm or model.3. The method of claim 2 , wherein the machine learning model or algorithm comprises a neural network.4. The method of claim 2 , wherein training the machine learning algorithm or model comprises providing at least a portion of the virtual sensor data and corresponding ...

ACCIDENT ATTENUATION SYSTEMS AND METHODS

Example accident attenuation systems and methods are described. In one implementation, a method determines a speed of a second vehicle approaching from behind a first vehicle and determines a distance between the first and second vehicles. The method also determines whether the second vehicle can stop before colliding with the first vehicle. If the second vehicle cannot stop before colliding with the first vehicle, the method takes action to attenuate the potential collision by applying full brake force, tightening seat belts, and/or turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic. 1. A method comprising:determining a speed of a second vehicle approaching from behind a first vehicle;determining a distance between the first and second vehicles;determining whether the second vehicle can stop before colliding with the first vehicle; andif the second vehicle cannot stop before colliding, taking action to attenuate the collision by performing at least one of: applying full brake force, tightening seat belts, and turning the front wheels of the first vehicle.2. The method of claim 1 , wherein turning the front wheels of the first vehicle includes turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic.3. The method of claim 1 , wherein determining a speed of the second vehicle includes receiving data from at least one sensor mounted to the first vehicle.4. The method of claim 3 , wherein the sensor mounted to the first vehicle is one of a Radar sensor claim 3 , a LIDAR sensor claim 3 , an ultrasound sensor or a camera.5. The method of claim 1 , wherein determining a distance between the first vehicle and the second vehicle includes receiving data from at least one sensor mounted to the first vehicle.6. The method of claim 5 , wherein the sensor mounted to the first vehicle is one of a Radar sensor claim 5 , a LIDAR sensor claim 5 , an ultrasound sensor or a camera.7. The ...

Vehicle Occupancy Indication And Utilization Thereof

Techniques pertaining to vehicle occupancy indication and utilization thereof are described. A method may involve determining occupancy information regarding a number of occupants in a vehicle. The method may also involve indicating the occupancy information in either or both of a human-perceivable way and a machine-perceivable way.

Methods And Apparatuses For Vehicle Wading Safety

Techniques and examples pertaining to vehicle water wading safety are described. A processor implementable to a vehicle approaching a waterbody may receive data related to the waterbody from one or more above-water or under-water sensors. The processor may determine a top surface and a bottom profile of the waterbody, and calculate one or more critical trajectories of water-sensitive components of the vehicle if the vehicle is to wade through the waterbody by traversing the bottom profile. The processor may then determine the wading safety based on the critical trajectories and the top surface of the waterbody. The processor may further determine a wading route, and autonomously drive the vehicle to wade the waterbody via the optimal wading route.

Vehicle Radar Perception And Localization

The disclosure relates to methods, systems, and apparatuses for autonomous driving vehicles or driving assistance systems and more particularly relates to vehicle radar perception and location. The vehicle driving system disclosed may include a storage media, a radar system, a location component and a driver controller. The storage media stores a map of roadways. The radar system is configured to generate perception information from a region near the vehicle. The location component is configured to determine a location of the vehicle on the map based on the radar perception information and other navigation related data. The drive controller is configured to control driving of the vehicle based on the map and the determined location.

AUTONOMOUS VEHICLE PROVIDING DRIVER EDUCATION

A method is disclosed for using an autonomous vehicle to teach a student how to drive. The method may include generating, by the autonomous vehicle during a training session, a plan for navigating a section of road. During the training session, the autonomous vehicle may receive control instructions from the student regarding how the student would like to navigate the section of road. If the autonomous vehicle determines that implementing the instructions would be safe and legal, it may implement those instructions. However, if the autonomous vehicle determines that implementing the instructions would not be safe and legal, it may execute the plan. During a training session, an autonomous vehicle may provide on a head-up display to the student certain visual feedback regarding a driving performance of the student. 1. A method comprising:generating, by an autonomous vehicle, a plan for navigating an environment;receiving, by the autonomous vehicle, instructions from a student driver for navigating the environment;implementing, by the autonomous vehicle, the instructions when the autonomous vehicle determines that doing so would be safe and legal; andexecuting, by the autonomous vehicle, the plan when the autonomous vehicle determines that implementing the instructions would not be safe and legal.2. The method of claim 1 , further comprising providing claim 1 , by the autonomous vehicle during at least one of the implementing and the executing claim 1 , visual feedback to the student driver on a head-up display regarding a driving performance of the student driver.3. The method of claim 2 , wherein the visual feedback corresponds to a deviation of a current location of the autonomous vehicle within a driving lane of the environment from an ideal location of the autonomous vehicle within the driving lane.4. The method of claim 2 , wherein the visual feedback further comprises a display claim 2 , by the head-up display from the perspective of the student driver claim 2 ...

Inductive Loop Detection Systems And Methods

Example inductive loop detection systems and methods are described. In one implementation, a method receives image data from a camera of a vehicle and determines a geographic position of the vehicle. Based on the image data and the geographic position of the vehicle, the method determines a location of an inductive loop in a roadway proximate the vehicle. The data associated with the location of the inductive loop is stored in a storage device within the vehicle. For a vehicle, a detectable zone may be determined based on actual or simulated outputs an inductive loop system at various locations relative to the vehicle. While driving, the vehicle is controlled to cause the detectable zone to pass over or stop over a known location of the inductive loop. 1. A method comprising:receiving, by a driving assistance system in a vehicle, information identifying a plurality of inductive loops in the proximity of the vehicle;determining a first inductive loop being approached by the vehicle;determining whether a current trajectory of the vehicle will activate the first inductive loop; andresponsive to determining that the current trajectory of the vehicle will not activate the first inductive loop, adjusting the vehicle's trajectory to enable activation of the first inductive loop.2. The method of claim 1 , further comprising receiving information identifying inductive loops along a planned route of the vehicle.3. The method of claim 1 , further comprising stopping the vehicle at a location that activates the first inductive loop.4. The method of claim 1 , wherein the information identifying the plurality of inductive loops in the proximity of the vehicle includes a location of the inductive loop within a lane of the roadway.5. The method of claim 1 , wherein the information identifying the plurality of inductive loops in the proximity of the vehicle includes a location of the inductive loop within a turn lane of the roadway.6. The method of claim 1 , further comprising: ...

Communicating Animal Proximity to a Vehicle

Example systems and methods for communicating animal proximity to a vehicle are described. In one implementation, a device implanted in an animal is activated when the device is within a predetermined distance of a vehicle. The vehicle receives a signal from the device and determines an approximate distance between the device and the vehicle. A symbol is flashed to a driver of the vehicle at a frequency that corresponds to the approximate distance between the device and the vehicle. 1. A method comprising:activating a device implanted in an animal when the device is within a predetermined distance of a vehicle;receiving, by the vehicle, a signal from the device;determining, using one or more processors, an approximate distance between the device and the vehicle; andflashing a symbol to a driver of the vehicle at a frequency that corresponds to the approximate distance between the device and the vehicle.2. The method of claim 1 , further comprising deactivating the device when the device is beyond the predetermined distance from the vehicle.3. The method of claim 1 , further comprising changing a status of the device to an energy-saving mode when the device is beyond the predetermined distance from the vehicle.4. The method of claim 1 , further comprising recharging a battery in the device by converting kinetic energy from the animal into electrical energy.5. The method of claim 1 , further comprising providing claim 1 , within the vehicle claim 1 , an audible notification that an animal is proximate the vehicle.6. The method of claim 1 , further comprising:periodically updating the approximate distance between the device and the vehicle; andupdating the flashing frequency based on the updated distance between the device and the vehicle.7. The method of claim 1 , wherein multiple vehicles within the predetermined distance of the device receive a signal from the device.8. The method of claim 1 , further comprising:determining an identification code associated with the ...

Detecting Hazards In Anticipation Of Opening Vehicle Doors

The present invention extends to methods, systems, and computer program products for detecting hazards in anticipation of opening vehicle doors. Vehicle sensors (e.g., rear viewing cameras) can be used to detect and classify traffic, for example, as pedestrians, bicyclists, skateboarders, roller skaters, wheel chair, etc., approaching on the side of a vehicle. When there is a possibility of a vehicle occupant opening a door into approaching traffic, a warning can be issued in the vehicle cabin to alert vehicle occupants of the approaching traffic. In one aspect, a vehicle prevents a door from opening if opening the door would likely cause an accident. 1. A method for use at a vehicle , the method comprising:determining that approaching traffic is to pass through space occupied by a vehicle door when the door is open;receiving a traffic classification for the approaching traffic from a neural network; anddetermining that the door poses a hazard to the approaching traffic based at least on the traffic classification, the approaching traffic passing through the defined space, and a configuration of the vehicle.2. The method of claim 1 , wherein determining that approaching traffic is to pass through space used for a vehicle door when the door is open comprises determining that approaching traffic is to pass through the space used for the vehicle door based on filtered sensor data from one or more sensors externally mounted on the vehicle.3. The method of claim 1 , wherein receiving a traffic classification for the approaching traffic comprises receiving an indication that the approaching traffic is classified as one of: a walking pedestrian claim 1 , a bicyclist claim 1 , a skate boarder claim 1 , a wheel chair claim 1 , or a roller skater.4. The method of claim 1 , further comprising outputting a signal in the cabin of the vehicle to indicate the hazard.5. The method of claim 4 , wherein outputting a signal in the cabin of the vehicle comprises outputting one of: an ...

Detecting Physical Threats Approaching A Vehicle

The present invention extends to methods, systems, and computer program products for detecting physical threats approaching a vehicle. External sensors on a vehicle capture the environment around the vehicle. Approaching targets detected by the external sensors can be fed into a neural network to recognize and/or classify approaching targets as potential threats. Tracking mechanisms (e.g., Kalman filters, Particle filters, etc.) can leverage temporal information to determine if a threat is approaching a vehicle. When an approaching threat is detected, a vehicle can activate one or more counter measures to deter the threat. When a vehicle includes autonomous driving capabilities, counter measures can include automatically attempting to drive away from an approaching threat. 1. A method for use at a vehicle , the method comprising:determining that the path of an object is likely to cause the object to travel near the vehicle based on filtered sensor data from one or more sensors externally mounted on the vehicle;providing the filtered sensor data as input to a neural network;receiving a threat classification for the object from the neural network; andindicating the threat classification in the vehicle cabin.2. The method of claim 1 , wherein receiving a threat classification for the object comprises receiving an indication that the object poses a threat to occupants of the vehicle.3. The method of claim 2 , wherein receiving an indication that the object is a threat to occupants of the vehicle comprises receiving an indication that a weapon is approaching the vehicle.4. The method of claim 2 , wherein receiving an indication that the object is a threat to occupants of the vehicle comprises receiving an indication that a person approaching the vehicle is wearing a mask.5. The method of claim 2 , further comprising activating counter measures at the vehicle to address the threat posed by the object.6. The method of claim 1 , wherein receiving a threat classification for ...

Methods and systems for automatically detecting and responding to dangerous road conditions

A method for automatically detecting and safely traversing an accumulation of ice on an impending bridge. The method automatically identifies, by the vehicle, impending approach of the vehicle to a bridge and senses an accumulation of ice on the bridge. The method then calculates a speed of the vehicle needed to prevent longitudinal slip between the vehicle and the bridge, and automatically slows the vehicle at a rate sufficient to enable the vehicle to reach the calculated speed by the time it reaches the bridge. A corresponding system is also disclosed and claimed herein.

Ice and snow detection systems and methods

Example ice and snow detection systems and methods are described. In one implementation, a method activates an ice and snow detection system in response to receiving weather data indicating a likelihood of ice or snow on a roadway near a vehicle. The method receives data from multiple vehicle sensors and analyzes the received data to identify ice or snow on the roadway. If ice or snow is identified on the roadway, the method adjusts vehicle operations and reports the ice or snow condition to a shared database.

Pedestrian detection and motion prediction with rear-facing camera

Systems, methods, and devices for pedestrian detection are disclosed herein. A method includes receiving one or more images from a rear-facing camera on a vehicle. The method further includes determining that a pedestrian is present in the one or more images, predicting future motion of the pedestrian, and notifying a driver-assistance or automated driving system when a conflict exists between forward motion of the vehicle and the predicted future motion of the pedestrian.

Tornado detection systems and methods.

Se describen ejemplos de sistemas y métodos para detectar tornados. En una implementación, un método recibe datos de un sensor instalado en un vehículo y analiza los datos recibidos usando una red neuronal profunda. El método determina si se identifica un tornado en los datos recibidos de acuerdo con el análisis de los datos recibidos. Si se identifica un tornado en los datos recibidos, el método determina una trayectoria del tornado.

Detecting an animal proximate a vehicle

Example systems and methods for detecting an animal proximate a vehicle are described. In one implementation, a wearable device carried by an animal is activated when the wearable device is within a predetermined distance of a vehicle. The vehicle receives a signal from the wearable device and determines an approximate distance between the wearable device and the vehicle. An alert is generated to warn a driver that an animal is near the vehicle. The alert has an intensity level that corresponds to the approximate distance between the wearable device and the vehicle.

DETECTING HAZARDS IN EXPECTATION OF OPENING VEHICLE DOORS

Die vorliegende Erfindung betrifft Verfahren, Systeme und Computerprogrammprodukte zum Erkennen von Gefahren in Erwartung sich öffnender Fahrzeugtüren. Fahrzeugsensoren (z. B. Rückkameras) können zum Erkennen und Klassifizieren von Verkehr, der sich auf der Seite eines Fahrzeugs nähert, beispielsweise als Fußgänger, Fahrradfahrer, Skateboarder, Rollschuhfahrer, Rollstuhl usw. verwendet werden. Wenn die Möglichkeit besteht, dass ein Fahrzeuginsasse eine Tür in sich nähernden Verkehr öffnet, kann im Fahrzeugraum eine Warnung ausgegeben werden, um Fahrzeuginsassen über den sich nähernden Verkehr zu unterrichten. In einem Aspekt verhindert ein Fahrzeug, dass sich eine Tür öffnet, wenn das Öffnen der Tür wahrscheinlich einen Unfall verursachen würde. The present invention relates to methods, systems and computer program products for detecting dangers in anticipation of opening vehicle doors. Vehicle sensors (eg, rear-view cameras) may be used to detect and classify traffic approaching the side of a vehicle, such as pedestrians, cyclists, skateboarders, skaters, wheelchairs, etc. If there is a possibility that a vehicle occupant will open a door in approaching traffic, a warning may be issued in the vehicle compartment to inform vehicle occupants of approaching traffic. In one aspect, a vehicle prevents a door from opening if opening the door would likely cause an accident.

Vehicle radar perception and localization

Diese Offenbarung bezieht sich auf Verfahren, Systeme und Einrichtungen für autonom fahrende Fahrzeuge oder Fahrassistenzsysteme und bezieht sich insbesondere auf die Fahrzeugradarwahrnehmung und -lokalisierung. Das offenbarte Fahrzeugfahrsystem kann Speichermedien, ein Radarsystem, eine Standortkomponente und eine Fahrsteuerung umfassen. Die Speichermedien speichern eine Karte von Fahrbahnen. Das Radarsystem ist dazu ausgelegt, Wahrnehmungsinformationen aus einer Region in der Nähe eines Fahrzeugs zu erzeugen. Die Standortkomponente ist dazu ausgelegt, auf der Basis der Radarwahrnehmungsinformationen und anderer navigationsbezogener Daten einen Standort des Fahrzeugs zu bestimmen. Die Fahrsteuerung ist dazu ausgelegt, das Fahren des Fahrzeugs auf der Basis der Karte und des bestimmten Standorts zu steuern. This disclosure relates to methods, systems and devices for autonomous vehicles or driver assistance systems, and more particularly relates to vehicle radar sensing and localization. The disclosed vehicle driving system may include storage media, a radar system, a location component, and a ride control. The storage media store a map of lanes. The radar system is configured to generate perceptual information from a region near a vehicle. The location component is configured to determine a location of the vehicle based on the radar awareness information and other navigation-related data. The travel controller is configured to control the driving of the vehicle based on the map and the particular location.

SYSTEM, METHOD AND DEVICES FOR AUTOMATED VEHICLE AND DRONE DELIVERY

Ein Verfahren zur Paketlieferung beinhaltet ein Identifizieren einer Vielzahl von Lieferstandorten zur Paketlieferung. Das Verfahren beinhaltet ein Bestimmen einer Fahrtroute für ein automatisiertes Bodenfahrzeug, um Lieferung an die Lieferstandorte unter Verwendung von einem oder mehreren automatisierten Luftfahrzeugen zu optimieren. Das Verfahren beinhaltet ein Steuern des automatisierten Bodenfahrzeugs, um die Lieferroute zu befahren. Das Verfahren beinhaltet ferner ein Bestimmen des Zeitablaufs zur Freigabe des einen oder der mehreren Luftfahrzeuge während der Navigation auf der Lieferroute, um Pakete an die Vielzahl von Lieferstandorten zu liefern. A method of package delivery includes identifying a plurality of delivery locations for package delivery. The method includes determining a route for an automated ground vehicle to optimize delivery to the delivery locations using one or more automated aircraft. The method includes controlling the automated ground vehicle to navigate the delivery route. The method further includes determining the timing to enable the one or more aircraft during navigation on the delivery route to deliver packages to the plurality of delivery locations.

Rear camera lane detection

A method for determining lane information includes receiving perception data from at least two sensors, the at least two sensors including a rear facing camera of a vehicle. The method includes determining, based on the perception data, a number of lanes on a roadway within a field of view captured by the perception data using a neural network. The method includes providing an indication of the number of lanes to an automated driving system or driving assistance system.

Inductive loop detection systems and methods.

Se describen métodos y sistemas de detección de lazos inductivos de ejemplo. En una implementación, un método recibe datos de imágenes desde una cámara de un vehículo y determina una posición geográfica del vehículo. En base a los datos de imágenes y a la posición geográfica del vehículo, el método determina una ubicación de un lazo inductivo en una calzada próxima al vehículo. Los datos asociados con la ubicación del lazo inductivo se almacenan en un dispositivo de almacenamiento dentro del vehículo.

Methods and apparatuses for vehicle wading safety

Techniques and examples pertaining to vehicle water wading safety are described. A processor implementable to a vehicle approaching a waterbody may receive data related to the waterbody from one or more above-water or under-water sensors. The processor may determine a top surface and a bottom profile of the waterbody, and calculate one or more critical trajectories of water-sensitive components of the vehicle if the vehicle is to wade through the waterbody by traversing the bottom profile. The processor may then determine the wading safety based on the critical trajectories and the top surface of the waterbody. The processor may further determine a wading route, and autonomously drive the vehicle to wade the waterbody via the optimal wading route.

ROAD RECOGNITION WITH REVERSING CAMERA

Ein Verfahren zum Bestimmen von Fahrspurinformationen beinhaltet Empfangen von Wahrnehmungsdaten von mindestens zwei Sensoren, wobei die mindestens zwei Sensoren eine nach hinten weisende Kamera eines Fahrzeugs beinhalten. Das Verfahren beinhaltet Bestimmen einer Anzahl von Fahrspuren auf einer Fahrbahn innerhalb eines Sichtfelds, das von den Wahrnehmungsdaten eingefangen wird, auf Grundlage der Wahrnehmungsdaten unter Verwendung eines neuronalen Netzes. Das Verfahren beinhaltet Bereitstellen einer Angabe der Anzahl von Fahrspuren für ein automatisiertes Fahrsystem oder Fahrassistenzsystem. A method for determining lane information includes receiving perceptual data from at least two sensors, wherein the at least two sensors include a rear-facing camera of a vehicle. The method includes determining a number of lanes on a lane within a field of view captured by the perceptual data based on the perceptual data using a neural network. The method includes providing an indication of the number of lanes for an automated driving system or driver assistance system.

Systems and methods for detecting induction loops

Es werden beispielhafte Induktionsschleifenerfassungssysteme und -verfahren beschrieben. In einer Umsetzung empfängt ein Verfahren Bilddaten von einer Kamera eines Fahrzeugs und ermittelt eine geografische Position des Fahrzeugs. Auf Grundlage der Bilddaten und der geografischen Position des Fahrzeugs ermittelt das Verfahren eine Lage einer Induktionsschleife in einer Fahrbahn nahe dem Fahrzeug. Die Daten, die zur Lage der Induktionsschleife gehören, werden in einer Speichervorrichtung im Fahrzeug gespeichert. Für ein Fahrzeug kann eine erfassbare Zone auf Grundlage aktueller oder simulierter Ausgaben ein Induktionsschleifensystem an verschiedenen Stellen in Bezug auf das Fahrzeug ermitteln. Während des Fahrens wird das Fahrzeug gesteuert, um die erfassbare Zone dazu zu veranlassen, über eine bekannte Lage der Induktionsschleife zu fahren oder über dieser anzuhalten. Exemplary induction loop detection systems and methods are described. In one implementation, a method receives image data from a camera of a vehicle and determines a geographic location of the vehicle. Based on the image data and the geographic location of the vehicle, the method determines a location of an induction loop in a lane near the vehicle. The data associated with the location of the induction loop is stored in a memory device in the vehicle. For a vehicle, a detectable zone may determine an induction loop system at various locations relative to the vehicle based on current or simulated outputs. During driving, the vehicle is controlled to cause the detectable zone to travel over or over a known position of the induction loop.

Drive history parking barrier alert.

Un sistema de asistencia de conducción que incluye un componente de detección de conducción, un componente de presencia y un componente de notificación. El componente de detección de conducción está configurado para determinar si un vehículo o un conductor están saliendo o preparándose para salir de un sitio de estacionamiento. El componente de presencia está configurado para determinar, de una base de datos de historial de conducción, si un tope de estacionamiento está presente en la parte delantera o trasera del sitio de estacionamiento. El componente de notificación está configurado para proporcionar una indicación de que el tope de estacionamiento está presente a un conductor humano o un sistema de conducción automatizada del vehículo.

Solar-powered, virtual-reality windshield

A vehicle windshield system to provide real-time road information and entertainment to vehicle occupants. The system includes a vehicle windshield and a solar panel and display coupled to the windshield. The solar panel is configured to convert light energy to electricity and to communicate the electricity to a battery. The solar panel also selectively allows and disallows visibility through the vehicle windshield. The display utilizes the electricity from the battery to display at least one of a virtual reality and entertainment. A corresponding method is also disclosed and claimed herein.

PEDESTRIAN RECOGNITION OF REVERSING A VEHICLE

Techniken und Umsetzungen in Bezug auf die Detektion von sich bewegenden Objekten, wie Fußgängern, wenn sich ein Fahrzeug in einer Rückwärtsrichtung bewegt, werden beschrieben. Ein Verfahren kann Identifizieren eines Interessenbereichs beinhalten, wenn sich ein Fahrzeug in einer Rückwärtsrichtung bewegt. Das Verfahren kann Detektieren eines sich bewegenden Objekts im Interessenbereich beinhalten. Das Verfahren kann ebenfalls Bestimmen, ob eine Kollision mit dem sich bewegenden Objekt durch das Fahrzeug, das sich in der Rückwärtsrichtung bewegt, wahrscheinlich ist, beinhalten. Das Verfahren kann ferner Bereitstellen eines von einem Menschen wahrnehmbaren Signals als Reaktion auf eine Bestimmung, dass die Kollision wahrscheinlich ist, beinhalten.

Multi-sensor precipitation-classification apparatus and method.

Se describe un vehículo que utilizada datos de diferentes tipos de sensores a bordo para determinar si está cayendo precipitación meteorológica cerca del vehículo. El vehículo puede incluir una cámara a bordo que captura datos de imágenes y un acelerómetro a bordo que captura datos de acelerómetro. Los datos de imágenes pueden caracterizar un área delante o detrás del vehículo. Los datos de acelerómetro pueden caracterizar vibraciones de un parabrisas del vehículo. Una red neuronal artificial puede ejecutarse en un equipo informático que se lleva a bordo del vehículo. La red neuronal artificial se puede entrenar para clasificar la precipitación meteorológica en un entorno del vehículo utilizando los datos de imágenes y datos del acelerómetro como entradas. Las clasificaciones de la red neuronal artificial se pueden utilizar para controlar una o más funciones del vehículo tales como la velocidad del limpiaparabrisas, los ajustes de control de tracción y similares.

Roadway-crossing-anomaly detection system and method

A method for improving the safety and comfort of a vehicle driving over a railroad track, cattle guard, or the like. The method may include receiving, by a computer system, one or more inputs corresponding to one or more forward looking sensors. The computer system may also receive data characterizing a motion of the vehicle. The computer system may estimate, based on the one or more inputs and the data, a motion of a vehicle with respect to a railroad track, cattle guard, or the like extending across a road ahead of the vehicle. Accordingly, the computer system may change a suspension setting, steering setting, or the like of the vehicle to more safely or comfortably drive over the railroad track, cattle guard, or the like.

Vehicle-window-transmittance-control apparatus and method.

Se describe un vehículo que incluye sistemas para ajustar la transmisión de una o más ventanas del vehículo. El vehículo puede incluir una cámara que emite imágenes de un ocupante dentro del vehículo. El vehículo también puede incluir una red neural artificial que se ejecuta en hardware informático a bordo del vehículo. Es posible entrenar la red neural artificial para clasificar al ocupante del vehículo con las imágenes captadas por la cámara como entrada. Además, el vehículo puede incluir un controlador que controla la transmisión de una o más ventanas con base en las clasificaciones realizadas por la red neural artificial. Por ejemplo, si la red neural artificial indica que el ocupante entrecierra sus ojos o los protege de la luz con una mano, un controlador puede reducir la transmisión de un parabrisas, una ventana lateral o alguna combinación de estas.

System, verfahren und vorrichtungen für automatisierte fahrzeug- und drohnenlieferung

Verfahren (400, 500), umfassend:Identifizieren einer Vielzahl von Lieferstandorten (308) zur Paketlieferung;Bestimmen einer Fahrtroute (302) für ein automatisiertes Bodenfahrzeug (200), um eine Kombination der Fahrstrecke des automatisierten Bodenfahrzeugs (200) und der Flugstrecke von einem oder mehreren automatisierten Luftfahrzeugen (208, 306) hinsichtlich einer Gesamtlieferzeit zu optimieren;Steuern des automatisierten Bodenfahrzeugs (200), um die Lieferroute (410) zu befahren; undBestimmen des Zeitablaufs zur Freigabe des einen oder der mehreren Luftfahrzeuge (208, 306) während der Navigation auf der Lieferroute, um Pakete an die Vielzahl von Lieferstandorten zu liefern, wobei der bestimmte Zeitablauf die Fahrzeit des automatisierten Bodenfahrzeugs (200) optimiert, undwobei das genannte Bestimmen des Zeitablaufs zur Freigabe des einen oder mehreren Luftfahrzeuge (208, 306) ein Bestimmen auf Grundlage von einem oder mehreren der folgenden Aspekte umfasst:aktuelle Verkehrsbedingungen entlang der Fahrtroute (302);ein Flugbereich eines Luftfahrzeugs (208, 306) des einen oder mehreren automatisierten Luftfahrzeuge (208, 306);eine Geschwindigkeit des automatisierten Bodenfahrzeugs (200); undeine oder mehrere Wetterbedingungen.

System und verfahren zum bereitstellen einer fahrerausbildung für einen menschlichen insassen eines autonomen fahrzeugs

Verfahren, umfassend:Empfang von durch einen Fahrschüler eingegebenen Informationen, welche auf eine erste Art der Fahraktivität hinweisen;Erzeugen eines Plans zum Durchführen der ersten Art der Fahraktivität während einer ersten Trainingseinheit durch ein autonomes Fahrzeug (10); Empfangen von Anweisungen zum Durchführen der ersten Art der Fahraktivität während der ersten Trainingseinheit von dem Fahrschüler durch das autonome Fahrzeug (10);Durchführen der ersten Art der Fahraktivität während der ersten Trainingseinheit; Speichern eines Protokolls einer Fahrleistung während der ersten Trainingseinheit und des Planes durch das autonome Fahrzeug (10), wobei der Plan Grundwahrheiten dazu enthält, wie das autonome Fahrzeug (10) die erste Art der Fahraktivität durchführen würde;Erkennen, dass ein Unterschied zwischen den durch den Fahrschüler bereitgestellten Anweisungen und einem vorher festgelegten idealen Weg oder Verhalten größer ist als ein Schwellenwert während eines ersten Zeitabschnitts;Ein Wechsel von einem manuellen Fahrmodus zu einem autonomen Fahrmodus, um das autonome Fahrzeug (10) autonom in eine Parkposition zu navigieren, basierend auf der Erkenntnis, dass der Unterschied größer ist als der Schwellenwert; undDarstellen einer Videowiedergabe eines Abschnitts des Protokolls, welche den ersten Zeitabschnitt darstellt, im Anschluss an die autonome Navigation des autonomen Fahrzeugs (10) zu der geparkten Position, für den Fahrschüler.

Angabe einer Fahrzeugbelegung und deren Verwendung

Es werden Methoden beschrieben, welche die Angabe einer Fahrzeugbelegung und deren Verwendung betreffen. Ein Verfahren kann das Bestimmen von Belegungsinformationen im Hinblick auf eine Anzahl von Insassen in einem Fahrzeug beinhalten. Das Verfahren kann außerdem das Angeben der Belegungsinformationen entweder auf eine von einem Menschen wahrnehmbare Weise oder eine von einer Maschine wahrnehmbare Weise oder beides beinhalten.

Roadway-crossing-anomaly detection system and method

A method for improving the safety and comfort of a vehicle driving over a railroad track, cattle guard, or the like. The method may include receiving, by a computer system, one or more inputs corresponding to one or more forward looking sensors. The computer system may also receive data characterizing a motion of the vehicle. The computer system may estimate, based on the one or more inputs and the data, a motion of a vehicle with respect to a railroad track, cattle guard, or the like extending across a road ahead of the vehicle. Accordingly, the computer system may change a suspension setting, steering setting, or the like of the vehicle to more safely or comfortably drive over the railroad track, cattle guard, or the like.

Systems, methods, and devices for communicating drive history path attributes

A method for providing path attributes to controllers in a vehicle includes determining a location of a vehicle and a future driving path for the vehicle. The method includes determining, based on a drive history for the vehicle or a driver of the vehicle, drive history path attributes for the future driving path. The method also includes providing the drive history path attributes to a plurality of controllers via a controller bus, wherein the drive history path attributes are provided to the plurality of controllers using a common protocol.

Methods and systems for opening of a vehicle access point using audio or video data associated with a user

Methods and systems for opening an access point of a vehicle. A system and a method may involve receiving wirelessly a signal from a remote controller carried by a user. The system and the method may further involve receiving audio or video data indicating the user approaching the vehicle. The system and the method may also involve determining an intention of the user to access an interior of the vehicle based on the audio or video data. The system and the method may also involve opening an access point of the vehicle responsive to the determining of the intention of the user to access the interior of the vehicle.

Virtual sensor data generation for wheel stop detection

The disclosure relates to methods, systems, and apparatuses for virtual sensor data generation and more particularly relates to generation of virtual sensor data for training and testing models or algorithms to detect objects or obstacles, such as wheel stops or parking barriers. A method for generating virtual sensor data includes simulating a three-dimensional (3D) environment comprising one or more objects. The method includes generating virtual sensor data for a plurality of positions of one or more sensors within the 3D environment. The method includes determining virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth includes information about at least one object within the virtual sensor data. The method also includes storing and associating the virtual sensor data and the virtual ground truth.

Parking obstruction locator and height estimator

Systems, methods and apparatuses are disclosed for assessing whether a vehicle will make contact with an obstacle. The systems, methods, and apparatuses may include an obstacle sensing component configured to determine a location and a dimension of an obstacle, a vehicle sensing component configured to determine a height of a point of the vehicle relative to the ground, and a notification component configured to provide an indication of a presence of the obstacle to assist a human driver or an automated driving system in parking the vehicle without making contact with the obstacle.

Identifying a driver of a vehicle

The present invention extends to methods, systems, and computer program products for identifying a person as a driver of a vehicle. Aspects include using in-vehicle sensors to increase the accuracy of driver identification initially determined using other mechanisms. As such, at least two different types of sensory devices can be utilized to gather data in an effort to identify the driver. The data gathered from the first sensor (e.g., at a key fob) is processed to identify the driver based on learned characteristic patterns, such as the driver's gait, before the driver enters the vehicle. The data gathered from the second sensor (e.g., in an in-vehicle face or voice recognition system) is processed to confirm the driver. The confirmation is based on biometric data and learned characteristic patterns. Data from the second sensor is provided back to the first sensor to confirm the driver identity.

Inductive loop detection systems and methods

Example inductive loop detection systems and methods are described. In one implementation, a method receives image data from a camera of a vehicle and determines a geographic position of the vehicle. Based on the image data and the geographic position of the vehicle, the method determines a location of an inductive loop in a roadway proximate the vehicle. The data associated with the location of the inductive loop is stored in a storage device within the vehicle.

Drive history parking barrier alert

A driving assistance system includes a drive detection component, a presence component, and a notification component. The drive detection component is configured to determine that a vehicle or driver is exiting or preparing to exit a parking location. The presence component is configured to determine, from a drive history database, whether a parking barrier is present in front of or behind the parking location. The notification component is configured to provide an indication that the parking barrier is present to a human driver or an automated driving system of the vehicle.