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公开(公告)号：US11568100B2
公开(公告)日：2023-01-31
申请号：US16457745
申请日：2019-06-28
申请人： Zoox, Inc.
IPC分类号： G06F30/20 , G05D1/00 , G07C5/02 , G06F30/333
摘要： A vehicle can capture data that can be converted into a synthetic scenario for use in a simulator. Objects can be identified in the data and attributes associated with the objects can be determined. The data can be used to generate a synthetic scenario of a simulated environment. The scenarios can include simulated objects that traverse the simulated environment and perform actions based on the attributes associated with the objects, the captured data, and/or interactions within the simulated environment. In some instances, the simulated objects can be filtered from the scenario based on attributes associated with the simulated objects and can be instantiated and/or destroyed based on triggers within the simulated environment. The scenarios can be used for testing and validating interactions and responses of a vehicle controller within the simulated environment.
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公开(公告)号：US20230019223A1
公开(公告)日：2023-01-19
申请号：US17882779
申请日：2022-08-08
申请人： Zoox, Inc.
发明人： Timo Birnschein , Andrew Piper , Adriano Di Pietro , Kyle Matthew Foley , Timothy David Kentley-Klay
IPC分类号： B62D65/12 , B60W30/184 , B60L3/00 , B60L3/04 , B60L3/12 , B60W10/08 , B60W10/18 , B60W10/20 , B60W10/22 , B60W10/30 , G07C5/00 , B60S9/02 , B60L58/10 , B60Q1/00 , B60K1/00 , G05D1/00 , B60H1/00 , B60K1/02 , B60K7/00 , B60K17/30 , B60K31/00 , B60L1/02 , B60Q1/04 , B60Q1/24 , B60R16/023 , B60R16/08 , B62D21/11 , B62D21/12 , B62D21/15
摘要： Vehicles may be composed of a relatively few number of “modules” that are assembled together during a final assembly process. An example vehicle may include a body module, a first drive module coupled to a first end of the body module, and a second drive module coupled to a second end of the body module. One or both of the drive modules may include a pair of wheels, a battery, an electric drive motor, and/or a heating ventilation and air conditioning (HVAC) system. One or both of the drive modules may also include a crash structure to absorb impacts. If a component of a drive module fails or is damaged, the drive module can be quickly and easily replaced with a new drive module, minimizing vehicle down time.
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公开(公告)号：US11554790B2
公开(公告)日：2023-01-17
申请号：US16870083
申请日：2020-05-08
申请人： Zoox, Inc.
摘要： Techniques to predict object behavior in an environment are discussed herein. For example, such techniques may include inputting data into a model and receiving an output from the model representing a discretized representation. The discretized representation may be associated with a probability of an object reaching a location in the environment at a future time. A vehicle computing system may determine a trajectory and a weight associated with the trajectory using the discretized representation and the probability. A vehicle, such as an autonomous vehicle, can be controlled to traverse an environment based on the trajectory and the weight output by the vehicle computing system.
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公开(公告)号：US11541843B1
公开(公告)日：2023-01-03
申请号：US16578205
申请日：2019-09-20
申请人： Zoox, Inc.
摘要： A vehicle capable of being utilized by users other than a user assigned to the vehicle is described herein. Such a vehicle may operate in various modes, including a first mode in which the vehicle allows additional users to utilize the vehicle and a second mode in which the vehicle prohibits additional users from utilizing the vehicle. A vehicle may transition from the first mode to the second mode based on various environmental factors, such as, but not limited to, vehicle demand, geolocation, and the like. When operating in a mode in which the vehicle can be utilized by users other than a user assigned to the vehicle, a user who may have been assigned a different vehicle may utilize the vehicle when proximate to the vehicle. Trip information and other details may be provided to the vehicle for transport of the user.
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公开(公告)号：US11537819B1
公开(公告)日：2022-12-27
申请号：US16862911
申请日：2020-04-30
申请人： Zoox, Inc.
发明人： Subhasis Das , Shida Shen
摘要： Techniques are disclosed for a covariance model that may generate observation covariances based on observation data of object detections. Techniques may include determining observation data for an object detection of an object represented in sensor data, determining that track data of a track is associated with the object, and inputting the observation data associated with the object detection into a machine-learned model configured to output a covariance (a covariance model). The covariance model may output one or more observation covariance values for the observation data. In some examples, the techniques may include determining updated track data based on the track data, the one or more observation covariance values, and the observation data.
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公开(公告)号：US20220390597A1
公开(公告)日：2022-12-08
申请号：US17833528
申请日：2022-06-06
申请人： Zoox, Inc.
发明人： Chuang Wang , Joshua Kriser Cohen
IPC分类号： G01S13/931 , G01S13/08
摘要： Techniques are discussed for determining reflected returns in radar sensor data. In some instances, pairs of radar returns may be compared to one another. For example, a reflection point may be determined from a first position of a first radar return and a second position of a second radar return. Additional data, e.g., sensor data and/or map data, may be used to determine the presence of objects in the environment. The first return or the second return may be a reflected return if an object is disposed at the reflection point. In some instances, a vehicle, such as an autonomous vehicle, may be controlled at the exclusion of information from reflected returns.
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公开(公告)号：US11516613B1
公开(公告)日：2022-11-29
申请号：US17077746
申请日：2020-10-22
申请人： Zoox, Inc.
发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Nam Gook Cho , Jonathan Tyler Dowdall , Subasingha Shaminda Subasingha
摘要： Techniques for determining information associated with sounds detected in an environment based on audio data are discussed herein. Audio sensors of a vehicle may determine audio data associated with sounds from the environment. Sounds may be caused by objects in the environment such as emergency vehicles, construction zones, non-emergency vehicles, humans, audio speakers, nature, etc. A model may determine a classification of the audio data and/or a probability value representing a likelihood that sound in the audio data is associated with the classification. A direction of arrival may be determined based on receiving classification values from multiple audio sensors of the vehicle, and other actions can be performed or the vehicle can be controlled based on the direction of arrival.
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公开(公告)号：US20220350337A1
公开(公告)日：2022-11-03
申请号：US17825347
申请日：2022-05-26
申请人： Zoox, Inc.
发明人： William Anthony Silva , Dragomir Dimitrov Anguelov , Benjamin Isaac Zwiebel , Juhana Kangaspunta
摘要： Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.
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公开(公告)号：US20220348256A1
公开(公告)日：2022-11-03
申请号：US17246410
申请日：2021-04-30
申请人： Zoox, Inc.
摘要： Techniques for using ball joint sensor data to determine conditions relevant to a vehicle are described in this disclosure. For example, in one example, the ball joint sensor data may be used to determine estimated steering data. The estimated steering data may be directly used to navigate through an environment, such as by the vehicle relying on the estimated steering data when planning, tracking, or executing a driving maneuver. Also, the estimated steering data may be used to verify the reliability of other steering sensor data used to navigate through the environment.
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