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公开(公告)号：US11860374B2
公开(公告)日：2024-01-02
申请号：US16795142
申请日：2020-02-19
申请人： Zoox, Inc.
发明人： Ryan McMichael
CPC分类号： G02B27/0955 , G01S7/481 , G01S7/4811 , G01S17/42 , G01S17/89 , G02B3/04 , G02B27/0916 , G02B27/0927
摘要： A LIDAR system may include a laser diode that emits a beam having a slow axis and a fast axis so that a cross-section of the beam has a width substantially greater than a height. A first three-element lens may be optically aligned with a photodetector of the LIDAR system. A second three-element lens may be optically aligned with the diode laser. The second three-element lens may include at least one lens having a predetermined astigmatism that reduces the width of the beam with respect to the height.
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公开(公告)号：US11858529B1
公开(公告)日：2024-01-02
申请号：US17491318
申请日：2021-09-30
申请人： Zoox, Inc.
CPC分类号： B60W60/001 , B60W40/02 , B60W50/0097 , G06V20/58 , B60W2300/14 , B60W2520/06 , B60W2520/14
摘要： A vehicle computing system may implement techniques to determine whether two objects in an environment are related as an articulated object. The techniques may include applying heuristics and algorithms to object representations (e.g., bounding boxes) to determine whether two objects are related as a single object with two portions that articulate relative to each other. The techniques may include predicting future states of the articulated object in the environment. One or more model(s) may be used to determine presence of the articulated object and/or predict motion of the articulated object in the future. Based on the presence and/or motion of the articulated object, the vehicle computing system may control operation of the vehicle.
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公开(公告)号：US11846514B1
公开(公告)日：2023-12-19
申请号：US15970072
申请日：2018-05-03
申请人： Zoox, Inc.
发明人： Timothy David Kentley-Klay , Duncan John Curtis , Donovan Anton Bass , Michael Moshe Kohen , Auver Cedric Austria
CPC分类号： G01C21/3438 , G06Q10/02 , G06T15/205 , G06T19/006 , H04W4/025 , G06T2215/16
摘要： Techniques for assisting a passenger to identify a vehicle and for assisting a vehicle to identify a passenger are discussed herein. Also discussed herein are techniques for capturing data via sensors on a vehicle or user device and for presenting such data in various formats. For example, in the context of a ride hailing service using autonomous vehicles, the techniques discussed herein can be used to identify a passenger of the autonomous vehicle at the start of a trip, and can be used to assist a passenger to identify an autonomous vehicle that has been dispatched for that particular passenger. Additionally, data captured by sensors of the vehicle and/or by sensors of a user device can be used to initiate a ride, determine a pickup location, orient a user within an environment, and/or provide visualizations or augmented reality elements to provide information and/or enrich a user experience.
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公开(公告)号：US11816852B2
公开(公告)日：2023-11-14
申请号：US16940216
申请日：2020-07-27
申请人： Zoox, Inc.
CPC分类号： G06T7/521 , G01S17/931 , G05D1/024 , G05D1/0212 , G06N20/00 , G06T7/11 , G06T7/77 , G06T2207/20081 , G06T2207/30261
摘要： A monocular image often does not contain enough information to determine, with certainty, the depth of an object in a scene reflected in the image. Combining image data and LIDAR data may enable determining a depth estimate of the object relative to the camera. Specifically, LIDAR points corresponding to a region of interest (“ROI”) in the image that corresponds to the object may be combined with the image data. These LIDAR points may be scored according to a monocular image model and/or a factor based on a distance between projections of the LIDAR points into the ROI and a center of the region of interest may improve the accuracy of the depth estimate. Using these scores as weights in a weighted median of the LIDAR points may improve the accuracy of the depth estimate, for example, by discerning between a detected object and an occluding object and/or background.
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公开(公告)号：US11808582B1
公开(公告)日：2023-11-07
申请号：US17305090
申请日：2021-06-30
申请人： Zoox, Inc.
发明人： James Graham Dolan
CPC分类号： G01C21/32 , G01C21/3638
摘要： Techniques associated with improving performance and realism of simulation instances associated with simulation testing of autonomous vehicles. In some cases, a simulation system may be configured to run a pre-simulation test to identify and store occlusion data to improve the performance of subsequent simulations associated with a shared scene or route.
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公开(公告)号：US11803977B2
公开(公告)日：2023-10-31
申请号：US17549516
申请日：2021-12-13
申请人： Zoox, Inc.
IPC分类号： G06T7/30 , G06V10/74 , G06V20/56 , G06V10/764
CPC分类号： G06T7/30 , G06V10/761 , G06V10/764 , G06V20/56 , G06T2207/10028
摘要： Techniques are described for determining whether a point cloud registration (e.g., alignment) between two sets of data points is valid. Such techniques can include determining voxelized representations of the sets of data points, and comparing characteristics of spatially aligned voxels within the voxelized representations. Characteristics of voxels to be compared can include classification labels of data points associated with voxels, including whether or not voxels correspond to free space. Point cloud registrations determined to be invalid can be given a weighting to be used in a subsequent high definition (HD) map building process. Generated maps can then be deployed for use in autonomous vehicles.
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公开(公告)号：US11802969B2
公开(公告)日：2023-10-31
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
IPC分类号： G05D1/02 , G05D1/00 , G06K9/00 , G06T7/246 , B60W50/04 , B60W30/09 , B60W50/00 , G08G1/16 , G06T7/10 , G06F16/29 , G01S17/931 , G06V20/58 , G01S17/89 , G06V10/764
CPC分类号： G01S17/89 , G01S17/931 , G05D1/0088 , G05D1/024 , G05D1/0214 , G05D1/0248 , G05D1/0274 , G06F16/29 , G06T7/10 , G06V10/764 , G06V20/58 , G08G1/166 , G05D2201/0213 , G06T2207/30241 , G06T2207/30261
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：US11794736B2
公开(公告)日：2023-10-24
申请号：US17412009
申请日：2021-08-25
申请人： Zoox, Inc.
IPC分类号： B60W30/095 , G05D1/02 , G08G1/16 , G05D1/00
CPC分类号： B60W30/0956 , B60W30/0953 , G05D1/0088 , G05D1/0214 , G08G1/166 , B60W2520/06 , B60W2554/00 , G05D2201/0213
摘要： Techniques for generating trajectories and drivable areas for navigating a vehicle in an environment are discussed herein. The techniques can include receiving a trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment in a drivable area. A location can be determined along the trajectory. A cost associated with the location can determined and can be evaluated with respect to a cost threshold. Further, the techniques can include determining, based at least in part on the cost meeting or exceeding the cost threshold, an action associated with the location, and controlling the autonomous vehicle to traverse the environment based at least in part on the action.
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公开(公告)号：US11794732B2
公开(公告)日：2023-10-24
申请号：US17090712
申请日：2020-11-05
申请人： Zoox, Inc.
IPC分类号： B60W30/09 , B60W30/095 , B60R21/0132 , G08G1/16
CPC分类号： B60W30/0956 , B60R21/0132 , B60W30/0953 , G08G1/166 , B60W2420/90 , B60W2520/10 , B60W2554/00
摘要： Techniques for predicting and avoiding collisions with objects detected in an environment based on sensor data are discussed herein. Sensors of a vehicle may detect one or more objects in the environment. A model may determine intersection values indicative of probabilities that the object will follow different paths that intersect with a planned path of the vehicle. A vehicle may receive one or more intersection values from a model usable by a computing device to control the vehicle.
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公开(公告)号：US11787438B2
公开(公告)日：2023-10-17
申请号：US17125890
申请日：2020-12-17
申请人： Zoox, Inc.
CPC分类号： B60W60/0011 , B60W60/0023 , G01C21/3469 , G05D1/0038 , G05D1/0088 , B60W2556/10
摘要： A teleoperations system that collaboratively works with an autonomous vehicle guidance system to generate a path for controlling the autonomous vehicle may comprise generating one or more trajectories at the teleoperations system based at least in part on environment data received from the autonomous vehicle and presenting the one or more trajectories to a teleoperator (e.g., a human user, machine-learned model, or artificial intelligence component). A selection of one of the trajectories may be received at the teleoperations system and transmitted to the autonomous vehicle. The one or more trajectories may be generated at the teleoperations system and/or received from the autonomous vehicle. Regardless, the autonomous vehicle may generate a control trajectory based on the trajectory received from teleoperations, instead of merely implementing the trajectory from the teleoperations system.
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