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公开(公告)号：US11620753B2
公开(公告)日：2023-04-04
申请号：US17541580
申请日：2021-12-03
申请人： Zoox, Inc.
IPC分类号： G06V20/58 , G06V20/64 , G06T7/11 , G05D1/02 , G05D1/00 , G06N3/08 , G06K9/62 , G06T7/521 , G06T7/181 , G06T7/187 , G01S17/89
摘要： A vehicle can include various sensors to detect objects in an environment. Sensor data can be captured by a perception system in a vehicle and represented in a voxel space. Operations may include analyzing the data from a top-down perspective. From this perspective, techniques can associate and generate masks that represent objects in the voxel space. Through manipulation of the regions of the masks, the sensor data and/or voxels associated with the masks can be clustered or otherwise grouped to segment data associated with the objects.
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公开(公告)号：US20230097251A1
公开(公告)日：2023-03-30
申请号：US17491091
申请日：2021-09-30
申请人： Zoox, Inc.
摘要： Techniques for a pose component that may determine a pose are described herein. A pose may refer to the inertial pose or position of a vehicle which may be updated in real-time or near real-time. For example, the techniques may include receiving a plurality of input signals at a pose component and monitoring the plurality of input signals. The pose component may determine, based on the monitoring of the plurality of input signals, a particular pose update algorithm of a plurality of pose update algorithms for determining the pose and determine, using the particular pose update algorithm, the pose based the plurality of input signals and IMU measurements associated with a primary IMU.
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公开(公告)号：US20230095422A1
公开(公告)日：2023-03-30
申请号：US17491066
申请日：2021-09-30
申请人： Zoox, Inc.
IPC分类号： B60L53/122 , H02J50/90 , H02J50/10 , H02J7/00 , B60L53/60 , B60L53/126 , B60L53/30 , B60L53/36
摘要： Techniques for converting power received from a power grid at a first voltage and outputting a signal at a second voltage are discussed herein. A power converter with a transformer that has a 22.5 degrees phase shift between current output by corresponding pairs of secondary windings can be utilized to convert power of a first level to power of a second level. The transformer can output power from 30 secondary windings. The power converter can output power with a total harmonic distortion of 5% and an efficiency of 96% or higher. Further, power can be output by a transmission coil and received by a receive coil in a device, such as a vehicle, to wirelessly charge the vehicle.
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公开(公告)号：US11614742B2
公开(公告)日：2023-03-28
申请号：US16698055
申请日：2019-11-27
申请人： Zoox, Inc.
发明人： Chuang Wang , Yuesong Xie
摘要： Techniques for estimating a height range of an object in an environment are discussed herein. For example, a sensor, such as a lidar sensor, can capture three-dimensional data of an environment. The sensor data can be associated with a two-dimensional representation. A ground surface can be removed from the sensor data, and clustering techniques can be used to cluster remaining sensor data provided in a two-dimensional representation to determine object(s) represented therein. A height of a sensor object can be represented as a first height based on an extent of the sensor data associated with the object and can be represented as a second height based on beam spreading aspects of the sensor data and/or sensor data associated with additional objects. Thus, a minimum and/or maximum height of an object can be determined in a robust manner. Such height ranges can be used to control an autonomous vehicle.
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公开(公告)号：US11603019B2
公开(公告)日：2023-03-14
申请号：US16443679
申请日：2019-06-17
申请人： Zoox, Inc.
摘要： A seat of a vehicle is designed for safety to reduce risk of injury to an occupant of the seat in the event of an abrupt movement or a collision involving the vehicle from the rear. The seat may have seatback geometry designed to promote coupling an occupant to the seat, thereby minimizing a gap between an occupant and the seatback and, therefore, the impact forces to the occupant in a rear-facing collision by reducing a relative velocity between the occupant and the seat, as well as absorbing energy of the occupant over a longer distance. The seat may include one or more materials that plastically deform under a force imparted on the seat by the occupant accelerating relative to and toward the seat during a vehicle collision. Cavities in the seat can be used, in some examples, to create a particular compressibility for optimizing impact.
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公开(公告)号：US11602999B1
公开(公告)日：2023-03-14
申请号：US15968222
申请日：2018-05-01
申请人： Zoox, Inc.
摘要： Demand associated with one or more vehicle systems can be predicted for a vehicle traversing a planned travel path. Based at least in part on the predicted demand, a control strategy can be determined for controlling operation of the one or more vehicle systems to optimize for efficiency, cabin temperature, component temperature, passenger comfort, etc. The one or more vehicle systems can be controlled, based at least in part on the control strategy, at least one of before the vehicle traverses the travel path, or as the vehicle traverses the travel path.
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公开(公告)号：US20230066919A1
公开(公告)日：2023-03-02
申请号：US17463027
申请日：2021-08-31
申请人： Zoox, Inc.
摘要： Systems and methods for calibrating multiple inertial measurement units on a system include calibrating a first of the inertial measurement units relative to the system using a first calibration model, and calibrating the remaining inertial measurement unit(s) relative to the first inertial measurement unit using a second calibration model. The calibration of the remaining inertial measurement unit(s) to the first inertial measurement unit can be based on a rigid body model by aligning a rotational velocity of the first inertial measurement unit with a rotational velocity of the remaining inertial measurement unit(s).
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公开(公告)号：US20230060435A1
公开(公告)日：2023-03-02
申请号：US17462963
申请日：2021-08-31
申请人： Zoox, Inc.
发明人： Joseph Funke , Ravi Gogna , Caili Li , Steven Cheng Qian , Jacob Patrick Thalman , Ruikun Yu
IPC分类号： B60W60/00 , G05D1/00 , B60W50/14 , B60W30/095 , B60W40/12
摘要： Techniques for providing remote assistance to a vehicle are discussed. The techniques include receiving, from a vehicle, an indication of an event and displaying, on a display and to a user, a portion of an environment including the vehicle. The techniques further determine a valid region in the portion of the environment associated with a location at which the vehicle is capable of navigating. The techniques also display, on the display a footprint of the vehicle, where the footprint is associated with a position and orientation. The techniques further include transmitting the position and orientation of the footprint to the vehicle, which causes the vehicle to traverse in the environment to the position and orientation.
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公开(公告)号：US11592830B2
公开(公告)日：2023-02-28
申请号：US16887712
申请日：2020-05-29
申请人： Zoox, Inc.
IPC分类号： B60W40/072 , G05D1/02 , B60W40/109
摘要： A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the reference trajectory, determine a lateral offset bias associated with the segment based at least in part on, for example, one or more of a speed or acceleration of the vehicle, and determine a candidate trajectory for the autonomous vehicle based at least in part on the lateral offset bias. The candidate trajectory may then be used to control the autonomous vehicle.
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公开(公告)号：US11584441B1
公开(公告)日：2023-02-21
申请号：US17119954
申请日：2020-12-11
申请人： Zoox, Inc.
发明人： Ramanjaneya Reddy Butukuri , Markus Jost , Nirmal Muralidharan , Andrew Frank Raczkowski , Paolo Ruscitti , Samantha Schoell , Thomas Andrew Stoddart , Ashley Williams
摘要： A wet dry barrier support system for a vehicle includes a support structure portion with mounting locations for mounting suspension components of a vehicle, mounting locations for coupling to a body of the vehicle, and a barrier portion to provide an environmental barrier to separate a first area of the vehicle from a second area of a vehicle. The support structure portion may provide a stiff mounting interface between the body and the suspension components by transferring loads therebetween and may define a through-cavity configured to pass a vehicle component through the through-cavity. The barrier portion may plastically deform upon receiving an energetic input from an impact of the vehicle and may prevent the wet dry barrier support system from entering a passenger compartment during the impact.
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