Masahiro Harada

20180225835, Aug 9, 2018

Feb 8, 2017

15/427263

- Erlanger KY, US
Masahiro Harada - Novi MI, US

G06T 7/33
G06T 7/11
G06T 7/32
G05D 1/02
G01C 21/32
G01C 21/34

System, methods, and other embodiments described herein relate to locally aligning features within a map. In one embodiment, a method includes segmenting map data that forms the map using a first grid to divide the map into a first set of tiles and a second grid to divide the map into a second set of tiles that are offset and overlap the first set of tiles. The method includes analyzing neighbor tiles in relation to a patch tile based, at least in part, on shared features between the patch tile and the neighbor tiles to identify external misalignments between one or more of the neighbor tiles and the patch tile. The neighbor tiles are from a different one of the first grid and the second grid. The method includes adjusting alignment of the neighbor tiles within the map according to the external misalignments for the neighbor tiles.

20180203456, Jul 19, 2018

Feb 10, 2017

15/430311

- Erlanger KY, US
Nobuhide Kamata - Ann Arbor MI, US
Masahiro Harada - Novi MI, US

G05D 1/02
G05D 1/00
B60W 10/20
B60W 10/04
B60W 10/184
B60W 30/12
B60W 30/18

System, methods, and other embodiments described herein relate to autonomously controlling a vehicle according to a trajectory plan. In one embodiment, a method includes updating, upon traveling over at least a portion of a current segment of a roadway, the trajectory plan for a subsequent segment of the roadway by setting a fixed portion of the trajectory plan to include: (i) a steering parameter to be fixed for a first duration of time and (ii) a speed parameter to be fixed for a second duration of time. The first duration of time and the second duration of time are of different lengths. The method includes computing input controls for autonomously controlling the vehicle according to the fixed portion of the trajectory plan. The method includes controlling the vehicle according to the input controls over the subsequent segment of the roadway.

20180196127, Jul 12, 2018

Jan 11, 2017

15/403585

- Los Altos CA, US
Masahiro Harada - Novi MI, US

G01S 7/497
G01C 21/16
G08G 1/16
G01S 17/93

System, methods, and other embodiments described herein relate to calibrating a sensor of a first vehicle. In one embodiment, a method includes, in response to detecting that a second vehicle is proximate to the first vehicle, acquiring perceived information from the sensor about the second vehicle. The method includes comparing the perceived information with vehicle information to generate an offset that characterizes a variance within the perceived information produced by the sensor. The vehicle information identifies known characteristics of the second vehicle. The method includes adjusting the sensor according to the offset to correct the variance of the sensor.

20170371336, Dec 28, 2017

Jun 24, 2016

15/192032

- Erlanger KY, US
Masahiro Harada - Novi MI, US
Danil V. Prokhorov - Canton MI, US

G05D 1/00
G05D 1/02

A method of autonomous driving includes identifying, from detected information about an environment surrounding a vehicle on a roadway, a lateral surface profile of the roadway. Based on the lateral surface profile of the roadway, vertical wheel positions at identified candidate future lateral positions of the vehicle are determined. Based on the vertical wheel positions, as part of a driving path along the roadway, future lateral positions of the vehicle from among the identified candidates therefor are determined using an energy function that favors low vertical wheel positions.

20170185088, Jun 29, 2017

Mar 16, 2017

15/461316

- Erlanger KY, US
Danil V. Prokhorov - Canton MI, US
Bunyo Okumura - Ann Arbor MI, US
Naoki Nagasaka - Ann Arbor MI, US
Masahiro Harada - Novi MI, US
Nobuhide Kamata - Ann Arbor MI, US

G05D 1/02
B60Q 9/00
G05D 1/00
B60W 50/00

Arrangements related to operating an autonomous vehicle in view-obstructed environments are described. At least a portion of an external environment of the autonomous vehicle can be sensed to detect one or more objects located therein. An occupant viewable area of the external environment can be determined. It can be determined whether one or more of the detected one or more objects is located outside of the determined occupant viewable area. Responsive to determining that a detected object is located outside of the determined occupant viewable area, one or more actions can be taken. For instance, the action can include presenting an alert within the autonomous vehicle. Alternatively or in addition, the action can include causing a current driving action of the autonomous vehicle to be modified.

20160355192, Dec 8, 2016

Jun 4, 2015

14/730570

- Erlanger KY, US
- Toyota-shi, JP
Toshiki Kindo - Yokohama, JP
Danil V. Prokhorov - Canton MI, US
Masahiro Harada - Novi MI, US

B60W 50/08
B60W 40/08
B60W 50/16
B60W 50/14
B60R 11/04

Arrangements relating to the transitioning of a vehicle between operational modes are described. The vehicle can transition between a first operational mode and a second operational mode. The second operational mode has a greater degree of manual involvement than the first operational mode. For instance, the first operational mode can be an unmonitored autonomous operational mode, and the second operational mode can be a monitored autonomous operational mode or a manual operational mode. It can be determined whether an operational mode transition event has occurred while the vehicle is operating in the first operational mode. In response to determining that an operational mode transition event has occurred, a time buffer for continuing in the first operational mode before switching to the second operational mode can be determined. A transition alert can be presented within the vehicle. The transition alert can represent the determined time buffer.

20160221500, Aug 4, 2016

Jan 29, 2015

14/609273

- Erlanger KY, US
Danil V. Prokhorov - Canton MI, US
Bunyo Okumura - Ann Arbor MI, US
Naoki Nagasaka - Ann Arbor MI, US
Masahiro Harada - Novi MI, US
Nobuhide Kamata - Ann Arbor MI, US

B60Q 9/00
G08G 1/16
B60W 30/00
B60Q 5/00
B60Q 1/00

Arrangements related to operating an autonomous vehicle in view-obstructed environments are described. At least a portion of an external environment of the autonomous vehicle can be sensed to detect one or more objects located therein. An occupant viewable area of the external environment can be determined. It can be determined whether one or more of the detected one or more objects is located outside of the determined occupant viewable area. Responsive to determining that a detected object is located outside of the determined occupant viewable area, one or more actions can be taken. For instance, the action can include presenting an alert within the autonomous vehicle. Alternatively or in addition, the action can include causing a current driving action of the autonomous vehicle to be modified.

20160161267, Jun 9, 2016

Dec 7, 2014

14/562763

- Erlanger KY, US
Masahiro Harada - Novi MI, US

G01C 21/34

Arrangements relate to determining a driving action for an autonomous vehicle. An exit event along a current road of a travel route of the autonomous vehicle can be identified. At least one forward vehicle between the autonomous vehicle and the exit event can be detected. A driving action to take relative to the at least one forward vehicle can be determined based on one or more inputs. Such inputs can include a determined availability or unavailability of passing the at least one forward vehicle and/or a determined sufficiency or insufficiency of distance between the at least one forward vehicle and the exit event. The autonomous vehicle can be caused to implement the determined driving action. The driving action can be, for example, remaining behind the at least one forward vehicle, passing the at least one forward vehicle or prompting an occupant of the autonomous vehicle to select a driving action.