公开(公告)号：US11256611B2

公开(公告)日：2022-02-22

申请号：US16425723

申请日：2019-05-29

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Nikos Arechiga Gonzalez ,  Karen Y. Leung ,  Soon Ho Kong ,  Jonathan Decastro ,  Frank Permenter

IPC: G06F11/36 ,  G06N3/08 ,  G06F17/13 ,  G06N5/02 ,  G06F30/20

Abstract: A method for synthesizing parameters for control of a closed loop system based on a differentiable simulation model of the closed loop system includes determining requirements/specifications for the closed loop system in signal temporal logic (STL). The method also includes selecting a parametric control law having a differentiable parameter control function. The method also includes converting the requirements in signal temporal logic into differentiable computational graph. The method further includes building the differentiable simulation model as a differentiable computational graph. Furthermore, the method includes automatically learning values of parameters for the differentiable parameter control function of the closed loop system by backpropagating an error.

公开(公告)号：US11918535B2

公开(公告)日：2024-03-05

申请号：US16847380

申请日：2020-04-13

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Jonathan Decastro ,  Soon Ho Kong ,  Nikos Arechiga Gonzalez ,  Frank Permenter ,  Dennis Park

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H2201/0103 ,  A61H2201/0173 ,  A61H2201/165 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2230/625

Abstract: Systems and methods for a powered, robotic exoskeleton, or exosuit, for a user's limbs and body are provided. The exosuit may be equipped with airbag devices mounted at various locations on the suit. The exosuit may include on-board computing equipment that can sense, compute control commands in real-time, and actuate limbs and airbags to restore stability (fall prevention) and minimize injuries due to falls, should they happen (fall protection).

公开(公告)号：US11518408B2

公开(公告)日：2022-12-06

申请号：US17097580

申请日：2020-11-13

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Nikos Arechiga-Gonzalez ,  Soonho Kong ,  Jonathan Decastro ,  Frank Permenter ,  Dennis Park

IPC: B60Q1/00 ,  B60W60/00 ,  G06K9/62 ,  B60W40/09 ,  B60W50/14 ,  B60W30/18 ,  A61B5/18 ,  A61B5/00 ,  G06V20/59 ,  G06V40/16 ,  B60W40/08

Abstract: A driver monitor system and method for predicting impairment of a user of a vehicle. The system includes video cameras, an input device for inputting a list of medications being taken by the driver. Processing circuitry predicts side effects of the medications based on the half-life of the medication, detecting eye gaze movement, eye lid position, and facial expression of the user using images from the video camera, predicting whether the user is transitioning into an impaired physical state that is a side effect of the medications, verifying the side effect of the medications, determining whether the user is fit to drive using the verified side effects of the medications, and outputting to the vehicle an instruction to operate the vehicle in a level of automation that makes up for the at least one side effect or to perform a safe pull over operation of the vehicle.

公开(公告)号：US11801852B2

公开(公告)日：2023-10-31

申请号：US17356368

申请日：2021-06-23

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Soonho Kong ,  Jonathan Decastro ,  Nikos Arechiga ,  Frank Permenter

IPC: B60W50/08 ,  G05D1/00 ,  G08G1/01 ,  G08G1/16 ,  G05D1/02

CPC classification number: B60W50/085 ,  G05D1/0088 ,  G08G1/0133 ,  G08G1/166 ,  G05D1/0214 ,  G05D2201/0213

Abstract: A method performed by an autonomous vehicle includes identifying a condition preventing the autonomous vehicle from proceeding along an intended route. The method also includes prompting a passenger of the autonomous vehicle to interact with a driver of a first vehicle in response to identifying the condition. The method further includes receiving, from the passenger, an input at an interface of the autonomous vehicle indicating a successful interaction or an unsuccessful interaction with the driver. The method also includes controlling the autonomous vehicle to proceed along the intended route based on the input indicating the successful interaction with the driver.

公开(公告)号：US11745732B2

公开(公告)日：2023-09-05

申请号：US16696546

申请日：2019-11-26

Applicant: TOYOTA RESEARCH INSTITUTE, INC. ,  MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Inventor： Daniel Jackson ,  Jonathan Decastro ,  Soon Ho Kong ,  Nikos Arechiga Gonzalez ,  Dimitrios Koutentakis ,  Feng Ping Angela Leong ,  Mike Meichang Wang ,  Xin Zhang

IPC: B60W30/09 ,  B60W30/095 ,  B60W10/20 ,  B60W10/18 ,  G05D1/00

CPC classification number: B60W30/09 ,  B60W10/18 ,  B60W10/20 ,  B60W30/0956 ,  G05D1/0077

Abstract: A method for certified control of a self-driving ego vehicle is described. The method includes analyzing a safety situation of the self-driving ego vehicle to determine a proposed vehicle control action using a main controller of the self-driving ego vehicle. The method also includes presenting, by the main controller, the proposed vehicle control action to an interlock controller, including a certificate of the proposed vehicle control action. The method further includes checking a safety certification evidence from the certificate by the interlock controller using a predefined safety argument to verify the safety certification evidence of the certificate. The method also includes directing, by a low-level controller, the self-driving ego vehicle to perform a certified vehicle control action.

公开(公告)号：US11543258B2

公开(公告)日：2023-01-03

申请号：US16413218

申请日：2019-05-15

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Soon Ho Kong ,  Jonathan Decastro ,  Nikos Arechiga Gonzalez ,  Frank Permenter

IPC: G01C21/36 ,  B60Q9/00

Abstract: A personalized notification method for a mobility as a service (MaaS) vehicle includes receiving conditional personalized notification features from a passenger of the MaaS vehicle. The method also includes monitoring current driving environment of the MaaS vehicle to determine whether a condition of the conditional personalized notification features is satisfied. The method further includes notifying the passenger when the condition is satisfied via at least one localized output device in a compartment of the MaaS vehicle.

公开(公告)号：US11479239B2

公开(公告)日：2022-10-25

申请号：US17097727

申请日：2020-11-13

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Nikos Arechiga-Gonzalez ,  Soonho Kong ,  Jonathan Decastro ,  Frank Permenter ,  Dennis Park

IPC: H04N5/44 ,  B60W30/06 ,  B60W40/02 ,  B60W50/14 ,  G08G1/14

Abstract: Aspects of the disclosure provide a parking method and system for a vehicle. For example, the parking system can include a processor and an output circuit. As another example, the parking system can include the processor and a compelling unit. The processor can be configured to determine whether a first weather condition, such as snowing, raining, icing and hailing, at a first parking location meets a first criterion, and identify, when the first weather condition meets the first criterion, a second parking location at which a second weather condition meets a second criterion different from the first criterion. The output unit can be configured to output an alert to the vehicle parked at the first parking location indicating that the vehicle is to be moved to the second parking location. The compelling unit can be configured to compel the vehicle to move to the second parking location.