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1. 发明申请

US20210192954A1 MERGING SUPPORT INFORMATION DISTRIBUTION APPARATUS, MERGING SUPPORT SYSTEM, MERGING SUPPORT INFORMATION DISTRIBUTION METHOD, AND COMPUTER PROGRAM 有权
公开(公告)号：US20210192954A1
公开(公告)日：2021-06-24
申请号：US17120664
申请日：2020-12-14
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Kengo Kurosawa , Takeshi Kitahara , Koutarou Ichikawa , Satoshi Komorita , Masayuki Itoh , Daisaku Honda , Yusuke Nakano
IPC分类号： G08G1/16 , G08G1/04 , G06K9/00 , G08G1/052
摘要： A merging support information (MSI) distribution apparatus includes a MSI reception unit configured to receive MSI including a speed recommended for a vehicle traveling on a branch line to merge with a main line from a merging prediction apparatus, a distribution destination information reception unit configured to receive distribution destination registration information including terminal movement information indicating a movement state of a mobile terminal mounted on the vehicle traveling on the branch line and terminal identification information identifying the mobile terminal from the mobile terminal via a mobile communication network, and an information distribution unit configured to specify the mobile terminal to be a distribution destination to which the MSI is distributed based on the branch line traveling information and the terminal movement information, and distribute the MSI to the specified mobile terminal via the mobile communication network based on the terminal identification information of the specified mobile terminal.

2. 发明授权

US09751212B1 Adapting object handover from robot to human using perceptual affordances 有权
公开(公告)号：US09751212B1
公开(公告)日：2017-09-05
申请号：US15147901
申请日：2016-05-05
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Eric Martinson , David Kim , Emrah Akin Sisbot , Yusuke Nakano
IPC分类号： G05B19/18 , B25J9/16 , G06N3/00
CPC分类号： B25J9/163 , G05B2219/40411 , G06N3/008 , Y10S901/03 , Y10S901/09
摘要： This disclosure describes, according to some implementations, a system and method for adapting object handover from robot to human using perceptual affordances. In an example method, upon receiving sensor data describing surroundings and/or operational state of a robot unit from a sensor, the method calculates a probability of a perceptual classification based on the sensor data. The perceptual classification may be one or more of an environment classification, an object classification, a human action classification, or an electro-mechanical state classification. The method further calculates an affordance of the probability of the perceptual classifier using a preference model, determines a handover action based on the affordance, executes the handover action, and updates the preference model based on feedback.

3. 发明申请

US20170249504A1 Autonomous Human-Centric Place Recognition 审中-公开
公开(公告)号：US20170249504A1
公开(公告)日：2017-08-31
申请号：US15057032
申请日：2016-02-29
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Eric Martinson , David Kim , Yusuke Nakano
IPC分类号： G06K9/00 , G06N99/00 , G06F17/30 , G06K9/62 , G06T7/00 , G06N7/00 , G06K9/46
CPC分类号： G06K9/00369 , G06F17/30598 , G06F17/30864 , G06K9/00335 , G06K9/00624 , G06K9/00771 , G06K9/4604 , G06K9/6267 , G06N7/005 , G06N99/005
摘要： The novel technology described in this disclosure includes an example method comprising capturing sensor data using one or more sensors describing a particular environment; processing the sensor data using one or more computing devices coupled to the one or more sensors to detect a participant within the environment; determining a location of the participant within the environment; querying a feature database populated with a multiplicity of features extracted from the environment using the location of the participant for one or more features being located proximate the location of the participant; and selecting, using the one or more computing devices, a scene type from among a plurality of predetermined scene types based on association likelihood values describing probabilities of each feature of the one or more features being located within the scene types.

4. 发明授权

US09613505B2 Object detection and localized extremity guidance 有权
公开(公告)号：US09613505B2
公开(公告)日：2017-04-04
申请号：US14658138
申请日：2015-03-13
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Eric Martinson , Emrah Akin Sisbot , Joseph Djugash , Kentaro Oguchi , Yutaka Takaoka , Yusuke Nakano
IPC分类号： G08B6/00
CPC分类号： G08B6/00
摘要： Technology for localized guidance of a body part of a user to specific objects within a physical environment using a vibration interface is described. An example system may include a vibration interface wearable on an extremity by a user. The vibration interface includes a plurality of motors. The system includes sensor(s) coupled to the vibrotactile system and a sensing system coupled to the sensor(s) and the vibration interface. The sensing system is configured to analyze a physical environment in which the user is located for a tangible object using the sensor(s), to generate a trajectory for navigating the extremity of the user to the tangible object based on a relative position of the extremity of the user bearing the vibration interface to a position of the tangible object within the physical environment, and to guide the extremity of the user along the trajectory by vibrating the vibration interface.

5. 发明申请

US20160250751A1 PROVIDING PERSONALIZED PATIENT CARE BASED ON ELECTRONIC HEALTH RECORD ASSOCIATED WITH A USER 有权
标题翻译：根据与用户相关的电子健康记录提供个性化的患者护理
公开(公告)号：US20160250751A1
公开(公告)日：2016-09-01
申请号：US14632165
申请日：2015-02-26
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Eric Martinson , Emrah Akin Sisbot , Veeraganesh Yalla , Kentaro Oguchi , Yusuke Nakano
IPC分类号： B25J9/16 , G06F19/00 , B25J9/00
CPC分类号： B25J9/1674 , B25J9/163 , B25J11/009 , G06F19/00 , G16H10/60 , G16H40/63 , G16H50/50 , Y10S901/01 , Y10S901/03 , Y10S901/47
摘要： The disclosure includes methods for determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user based on an EHR associated with the user; generating, with a processor-based device that is programmed to perform the generating, instructions for a robot to perform a task based on the obstacles within the environment and one or more physical capabilities of the user; and instructing the robot to perform the task.
摘要翻译：本公开包括用于确定用户在环境中的当前位置的方法; 检测环境中的障碍; 基于与用户相关联的EHR来估计用户的一个或多个物理能力; 利用基于处理器的设备，其被编程为执行生成指令，用于机器人基于所述环境中的障碍物和所述用户的一个或多个物理能力来执行任务; 并指示机器人执行任务。

6. 发明申请

US20200307679A1 VEHICLE RUNNING CONTROL SYSTEM 审中-公开
公开(公告)号：US20200307679A1
公开(公告)日：2020-10-01
申请号：US16829564
申请日：2020-03-25
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , PACIFIC INDUSTRIAL CO., LTD.
发明人： Tetsuya MORINO , Yusuke Nakano , Rio Suda , Yoshio Kudo , Toshiya Furukura
IPC分类号： B62D5/04 , B62D6/02 , B62D15/02
摘要： A vehicle running control system includes: a steering apparatus that includes a turning device being mechanically separated from a steering wheel; a vehicle drive unit; and a control device. The control device is configured to execute: a turning processing that controls the turning device such that an actual turning angle of the wheel approaches a target turning angle; a vehicle driving processing that determines a target vehicle driving force according to a required vehicle driving force based on a vehicle driving request and that controls the vehicle drive unit so as to cause an actual vehicle driving force to the target vehicle driving force determined; and where a turning angle difference is greater than a turning angle threshold value in a low vehicle speed condition, a driving force limiting processing that limits the target vehicle driving force so as to become smaller than the required vehicle driving force.

7. 发明申请

US20200005480A1 VIEWPOINT RECOMMENDATION APPARATUS, RECOMMENDATION METHOD THEREOF, AND NON-TRANSITORY COMPUTER READABLE MEDIUM 审中-公开
公开(公告)号：US20200005480A1
公开(公告)日：2020-01-02
申请号：US16454735
申请日：2019-06-27
申请人： National University Corporation Nagoya University , Toyota Jidosha Kabushiki Kaisha
发明人： Hiroshi Murase , Yasutomo Kawanishi , Daisuke Deguchi , Nik Mohd Zarifie bin Hashim , Yusuke Nakano , Norimasa Kobori
IPC分类号： G06T7/70 , G06T7/00 , G06K9/00 , G06N20/00 , G06F17/18
摘要： A viewpoint recommendation apparatus includes image feature extraction means for extracting an image feature from the acquired image at a first viewpoint, pose estimation means for calculating a first likelihood map indicating a relation between the estimated pose of the object and a likelihood of this estimated pose, second storage means for storing a second likelihood map indicating a relation between the true first viewpoint and a likelihood of this first viewpoint in the estimated pose, third storage means for storing a third likelihood map indicating a relation between the pose of the object when the object is observed at the first and the second viewpoints and a likelihood of this pose, and viewpoint estimation means for estimating the second viewpoint so that a value of an evaluation function of the first, second, and third likelihood maps becomes the maximum or minimum.

8. 发明授权

US09694496B2 Providing personalized patient care based on electronic health record associated with a user 有权
公开(公告)号：US09694496B2
公开(公告)日：2017-07-04
申请号：US14632165
申请日：2015-02-26
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Eric Martinson , Emrah Akin Sisbot , Veeraganesh Yalla , Kentaro Oguchi , Yusuke Nakano
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , G06F19/00 , B25J11/00
CPC分类号： B25J9/1674 , B25J9/163 , B25J11/009 , G06F19/00 , G16H10/60 , G16H40/63 , G16H50/50 , Y10S901/01 , Y10S901/03 , Y10S901/47
摘要： The disclosure includes methods for determining a current location for a user in an environment; detecting obstacles within the environment; estimating one or more physical capabilities of the user based on an EHR associated with the user; generating, with a processor-based device that is programmed to perform the generating, instructions for a robot to perform a task based on the obstacles within the environment and one or more physical capabilities of the user; and instructing the robot to perform the task.

9. 发明授权

US09469028B2 Robotic handover system natural for humans 有权
标题翻译：人机交互系统自然
公开(公告)号：US09469028B2
公开(公告)日：2016-10-18
申请号：US14502951
申请日：2014-09-30
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Emrah Akin Sisbot , Halit Bener Suay , Yutaka Takaoka , Yusuke Nakano
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16
CPC分类号： B25J9/163 , G05B2219/40409 , G05B2219/40413
摘要： The disclosure includes a system and method for determining posture data for a user based on observation of the user, generating user model data describing one or more user models, determining user preferences data describing the preferences of the user for receiving an object, generating two or more reach simulations that simulate the user reaching for different points inside a user environment to receive the object, each reach simulation resulting in a hand of the user arriving at a three-dimensional point in the user environment, analyzing the reach simulations to assign a value to each three-dimensional point in the user environment, grouping the three-dimensional points into one or more clusters of similar points to form candidate zones including one or more points inside the user environment where a robot can place the object for handover to the user, and ranking the candidate zones.
摘要翻译：本公开包括用于基于用户的观察来确定用户的姿势数据的系统和方法，生成描述一个或多个用户模型的用户模型数据，确定描述用户接收对象的偏好的用户偏好数据，生成两个或多个更多的模拟模拟用户到达用户环境内的不同点以接收对象，每次达到模拟导致用户的手到达用户环境中的三维点，分析到达模拟以分配值到用户环境中的每个三维点，将三维点分组成一个或多个类似点的聚类，以形成包括用户环境内的一个或多个点的候选区域，其中机器人可以将对象放置到用户切换并排名候选区。

10. 发明申请

US20160267755A1 Object Detection and Localized Extremity Guidance 有权
标题翻译：对象检测和局部化肢体指导
公开(公告)号：US20160267755A1
公开(公告)日：2016-09-15
申请号：US14658138
申请日：2015-03-13
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Eric Martinson , Emrah Akin Sisbot , Joseph Djugash , Kentaro Oguchi , Yutaka Takaoka , Yusuke Nakano
IPC分类号： G08B6/00
CPC分类号： G08B6/00
摘要： Technology for localized guidance of a body part of a user to specific objects within a physical environment using a vibration interface is described. An example system may include a vibration interface wearable on an extremity by a user. The vibration interface includes a plurality of motors. The system includes sensor(s) coupled to the vibrotactile system and a sensing system coupled to the sensor(s) and the vibration interface. The sensing system is configured to analyze a physical environment in which the user is located for a tangible object using the sensor(s), to generate a trajectory for navigating the extremity of the user to the tangible object based on a relative position of the extremity of the user bearing the vibration interface to a position of the tangible object within the physical environment, and to guide the extremity of the user along the trajectory by vibrating the vibration interface.
摘要翻译：引导使用振动界面的物理环境中用户身体部位进行局部引导的技术被描述。示例性系统可以包括由用户在肢体上佩戴的振动界面。振动界面包括多个电动机。该系统包括耦合到振动脉冲系统的传感器和耦合到传感器和振动界面的感测系统。感测系统被配置为使用传感器来分析用户对于有形物体的物理环境，以基于肢体的相对位置生成用于将用户的末端导航到有形物体的轨迹承载振动界面的用户到物理环境中的有形物体的位置，并且通过振动振动界面来引导使用者的沿着轨迹的末端。

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