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公开(公告)号：US20240101157A1
公开(公告)日：2024-03-28
申请号：US18087540
申请日：2022-12-22
申请人： Zoox, Inc.
CPC分类号： B60W60/0027 , B60W40/04 , G06N3/04 , B60W2554/404 , B60W2554/4046
摘要： Techniques for predicting an object trajectory or scene information are described herein. For example, the techniques may include inputting latent variable data into a machine learned model. The machine learned model may output an object trajectory (e.g., position data, velocity data, acceleration data, etc.) for one or more objects in the environment based on the latent variable data. The object trajectory can be sent to a vehicle computing device for consideration during vehicle planning, which may include simulation.
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公开(公告)号：US20240101150A1
公开(公告)日：2024-03-28
申请号：US17855671
申请日：2022-06-30
申请人： Zoox, Inc.
CPC分类号： B60W60/0011 , B60W30/09 , B60W30/0956 , B60W40/04 , B60W50/0097 , B60W60/0015 , B60W60/00274 , G06N20/00 , B60W2554/4045 , B60W2554/4046 , B60W2556/10
摘要： Techniques for predicting an object trajectory or scene information are described herein. For example, the techniques may include inputting tokens representing discrete behavior into a machine learned model. The machine learned model may output a sequence of tokens that is usable by another machine learned model to generate an object trajectory (e.g., position data, velocity data, acceleration data, etc.) for one or more objects in the environment. The object trajectory can be sent to a vehicle computing device for consideration during vehicle planning, which may include simulation.
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公开(公告)号：US20240098245A1
公开(公告)日：2024-03-21
申请号：US17739530
申请日：2022-05-09
申请人： Zoox, Inc.
CPC分类号： H04N17/002 , G06T7/80 , G06T2207/20076
摘要： Techniques for determining a probability that a first sensor is miscalibrated with respect a second sensor are discussed herein. For example, a computing device may receive calibrated extrinsics of a camera to a lidar, determine a plurality of sets of perturbed extrinsics based on the calibrated extrinsics, determine respective costs for perturbed extrinsics of the plurality of sets of perturbed extrinsics based on image data captured by the camera, the plurality of sets of perturbed extrinsics, and lidar data captured by the lidar, and determine a local maxima score for the calibrated extrinsics based at least in part on the respective costs for the perturbed extrinsics of the plurality of sets of perturbed extrinsics and a cost of the calibrated extrinsics. The computing device may then determine a probability that the camera is miscalibrated based on a Bayes probability and the local maxima score.
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公开(公告)号：US20240094029A1
公开(公告)日：2024-03-21
申请号：US17804744
申请日：2022-05-31
申请人： Zoox, Inc.
CPC分类号： G01C21/3867 , B60W60/00 , G01C21/3807 , G06T7/0002 , G06T7/33
摘要： Techniques for representing a scene or map based on statistical data of captured environmental data are discussed herein. In some cases, the data (such as covariance data, mean data, or the like) may be stored as a multi-resolution voxel space that includes a plurality of semantic layers. In some instances, individual semantic layers may include multiple voxel grids having differing resolutions. Multiple multi-resolution voxel spaces may be merged or aligned to generate combined scenes based on detected voxel covariances at one or more resolutions.
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公开(公告)号：USD1017260S1
公开(公告)日：2024-03-12
申请号：US29813259
申请日：2021-10-27
申请人： Zoox, Inc.
设计人： Timothy David Kentley-Klay , Nahuel Elias Battaglia , Herman Francisco Delos Santos , Richard Luke Osellame , Christopher John Stoffel
摘要： FIG. 1 is a top perspective view of a vehicle seat;
FIG. 2 is a bottom perspective view thereof;
FIG. 3 is a front view thereof;
FIG. 4 is a back view thereof;
FIG. 5 is a right-side view thereof;
FIG. 6 is a left-side view thereof;
FIG. 7 is a top view thereof; and,
FIG. 8 is a bottom view thereof.
The dashed broken lines depict portions of the vehicle seat that form no part of the claimed design.-
公开(公告)号：US11919526B1
公开(公告)日：2024-03-05
申请号：US17243407
申请日：2021-04-28
申请人： Zoox, Inc.
CPC分类号： B60W50/0205 , B60W50/0097 , B60W2510/083 , B60W2510/18 , B60W2510/20
摘要： Techniques are discussed herein for detecting and measuring faults within vehicle drive systems. In various implementations, actuator feedback monitors and/or vehicle performance monitors are used individually or in combination to determine faults within acceleration systems, braking systems, and/or steering systems of a vehicle. Different monitors may use different algorithms, models, and input data from the vehicle during operation, to compare a predicted drive system output to a corresponding measured output. Additionally, monitors may include associated sets of disable conditions used to distinguish drive system faults from other driving conditions. The outputs from actuator feedback monitors, vehicle performance monitors, and disable conditions may be analyzed to detect drive system faults and control the vehicle to address the faults and control the safe operation of the vehicle.
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公开(公告)号：US11912268B2
公开(公告)日：2024-02-27
申请号：US17246412
申请日：2021-04-30
申请人： Zoox, Inc.
IPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , G08G1/16 , B60W30/095
CPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W30/0956 , G08G1/161 , B60W2554/404 , B60W2554/80
摘要： Techniques for accurately predicting and avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle safety system can implement a model to output data indicating an intersection probability between the object and a portion of the vehicle in the future. The model may employ a rear collision filter, a distance filter, and a time to stop filter to determine whether a predicted collision may be a false positive, in which case the techniques may include refraining from reporting such predicted collision to other another vehicle computing device to control the vehicle.
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公开(公告)号：US11908204B2
公开(公告)日：2024-02-20
申请号：US17827182
申请日：2022-05-27
申请人： Zoox, Inc.
摘要： Navigation systems can identify objects in an environment and generate representations of those objects. A representation of an articulated vehicle can include two segments rotated relative to each other about a pivot, with a first segment corresponding to a first portion of the articulated vehicle and the second segment corresponding to a second portion of the articulated vehicle. The articulated object can be tracked in the environment by generating estimated updated states of the articulated agent based on previous states and/or measured states of the object using differing motion model updates for the differing portions. The estimated updated states may be determined using one or more filtering algorithms, which may be constrained using pseudo-observables.
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公开(公告)号：US11884282B1
公开(公告)日：2024-01-30
申请号：US17393987
申请日：2021-08-04
申请人： Zoox, Inc.
CPC分类号： B60W50/0097 , G06F18/2148 , G06V10/242 , G06V20/182 , G06V20/58 , B60W60/0027 , B60W2050/0031 , B60W2420/42 , B60W2420/52 , B60W2554/4044
摘要： Techniques for increasing performance of machine-learned models while conserving computational resources generally required by ensemble machine-learning methods are described herein. The techniques may include determining multiple views of a scene that is to be input into a machine-learned model. In some examples, a scene data input may be rotated by 90, 180, and 270 degrees to generate four scene inputs (e.g., 0-, 90-, 180-, and 270-degree rotated inputs) that can be passed through the machine-learned model and the results per scene can be aggregated to determine a final prediction/decision. Similarly, scene inputs may be shifted, reflected, translated, and/or the like before being input into the machine-learned model. The predictions may be associated with one or more objects in the environment that are represented in the scenes.
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公开(公告)号：US11875681B2
公开(公告)日：2024-01-16
申请号：US17187226
申请日：2021-02-26
申请人： Zoox, Inc.
发明人： Timothy Caldwell , Dan Xie , William Anthony Silva , Abishek Krishna Akella , Jefferson Bradfield Packer , Rick Zhang , Marin Kobilarov
CPC分类号： G08G1/166 , G08G1/0112 , G08G1/167
摘要： Drive envelope determination is described. In an example, a vehicle can capture sensor data while traversing an environment and can provide the sensor data to computing system(s). The sensor data can indicate agent(s) in the environment and the computing system(s) can determine, based on the sensor data, a planned path through the environment relative to the agent(s). The computing system(s) can also determine lateral distance(s) to the agent(s) from the planned path. In an example, the computing system(s) can determine modified distance(s) based at least in part on the lateral distance(s) and information about the agents. The computing system can determine a drive envelope based on the modified distance(s) and can determine a trajectory in the drive envelope.
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