Dmitri Dolgov

7734803, Jun 8, 2010

May 8, 2006

11/430114

Kenneth P. Laberteaux - Ann Arbor MI, US
Dmitri A. Dolgov - Ann Arbor MI, US

Toyota Motor Engineering & Manufacturing North America, Inc. - Erlanger KY

G06F 15/16

709231, 709218

Methods and systems are described for delivering content to a vehicle occupant through a wireless communications link between a wireless client associated with the vehicle and a wireless access point external to the vehicle. The wireless access point is in communication with a content supplier, and available content from the content supplier, as determined from a user subscription, is delivered to the user using the wireless communications link when the vehicle is stationary.

8060271, Nov 15, 2011

Jun 6, 2008

12/134763

Dmitri A. Dolgov - Ann Arbor MI, US
Sebastian Thrun - Stanford CA, US

Toyota Motor Engineering & Manufacturing North America, Inc. - Erlanger KY

G05D 1/00

701 28, 701206, 701211, 701300

Apparatus and methods according to some embodiments of the present invention use a graphical model, such as a Markov random field model, to represent principal driving directions within an environment. The model has a plurality of nodes representing spatial locations within the environment, and the principal direction for each node is determined probabilistically using linear features detected within an image of the environment. Apparatus and methods according to embodiments of the present invention can be used in improved autonomous navigation systems, such as robotic vehicles.

8384776, Feb 26, 2013

Apr 22, 2009

12/428222

Dmitri A. Dolgov - Ann Arbor MI, US
Sebastian Thrun - Stanford CA, US

Toyota Motor Engineering and Manufacturing North America, Inc. - Erlanger KY

H04N 7/00

348116, 701 25

A method of creating an obstacle-free diagram using topological sensor data to form a graph corresponding to a driving path, transforming the graph using discrete heuristics, locally smoothing a plurality of edges of the graph after the transforming, and globally smoothing the graph after the locally smoothing. Transforming includes deleting an edge of the graph, merging two intersections of the graph into a single intersection, and collapsing a plurality of edges forming a loop into a single edge. Locally smoothing includes smoothing a lane segment of the graph by minimizing a sum of a function of smoothness and a function of distance. Globally smoothing includes defining an intersection potential and minimizing a sum of the function of smoothness, the function of distance, a function of intersections and a function of direction.

8392117, Mar 5, 2013

May 22, 2009

12/471079

Dmitri A. Dolgov - Ann Arbor MI, US
Sebastian Thrun - Stanford CA, US

Toyota Motor Engineering & Manufacturing North America, Inc. - Erlanger KY

G01C 21/00
G01C 21/34

701533, 701301

A method of creating a lane network of a semi-structured environment for a vehicle, assigning a corresponding cost function to each of a plurality of coordinates of the semi-structured environment using the lane network and a state of the vehicle, the state of the vehicle corresponding to a coordinate location of the vehicle and an angular orientation of the vehicle, and determining an obstacle-free path on the semi-structured environment using the cost function of each of the plurality of coordinates.

20090105939, Apr 23, 2009

Oct 22, 2007

11/876203

Dmitri A. Dolgov - Ann Arbor MI, US
Sebastian Thrun - Stanford CA, US

Toyota Motor Engineering & Manufacturing North America, Inc. - Erlanger KY

G01C 21/00
G06F 17/11

701201

A vehicle navigation system through an area having a plurality of objects. A Voronoi decomposition on the area is first constructed having a number of edges surrounding the obstacles. A Voronoi field having a value between zero and an upper limit is calculated for geometric locations within the area such that the field reaches a maximum value within obstacles and a minimum value on the edges. A transversal cost between adjacent locations in the area from the position of the vehicle and toward a destination is calculated in which the transversal cost increases proportionately with the value of the field. A route is then planned from the position of the vehicle to the destination which minimizes the transversal cost.

20100034422, Feb 11, 2010

Aug 6, 2008

12/186581

Michael Robert James - Northville MI, US
Dmitri A. Dolgov - Ann Arbor MI, US

Toyota Motor Engineering & Manufacturing North America, Inc. - Erlanger KY

G06K 9/00

382103

A method of tracking objects within an environment comprises acquiring sensor data related to the environment, identifying linear features within the sensor data, and determining a set of tracked linear features using the linear features identified within the sensor data and a previous set of tracked linear features, the set of tracked linear features being used to track objects within the environment.

7167799, Jan 23, 2007

Mar 23, 2006

11/387414

Dmitri A. Dolgov - Ann Arbor MI, US
Kenneth P. Laberteaux - Ann Arbor MI, US

Toyota Technical Center USA, Inc. - Ann Arbor MI

G01C 23/00
G06F 19/00

701301, 701213

A system and method of intelligent navigation with collision avoidance for a vehicle is provided. The system includes a global positioning system and a vehicle navigation means in communication with the global positioning system. The system also includes a centrally located processor in communication with the navigation means, and an information database associated with the controller, for identifying a location of a first vehicle and a second vehicle. The system further includes an alert means for transmitting an alert message to the vehicle operator regarding a collision with a second vehicle. The method includes the steps of determining a geographic location of a first vehicle and a second vehicle within an environment using the global positioning system on the first vehicle and the global positioning system on the second vehicle, and modeling a collision avoidance domain of the environment of the first vehicle as a discrete state space Markov Decision Process. The methodology scales down the model of the collision avoidance domain, and determines an optimal value function and control policy that solves the scaled down collision avoidance domain. The methodology extracts a basis function from the optimal value function, scales up the extracted basis function to represent the unscaled domain, and determines an approximate solution to the control policy by solving the rescaled domain using the scaled up basis function.