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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
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , Dan Xie , William Anthony Silva , Abishek Krishna Akella , Jefferson Bradfield Packer , Rick Zhang , Marin Kobilarov
CPC classification number: G08G1/166 , G08G1/0112 , G08G1/167
Abstract: 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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公开(公告)号：US20210370921A1
公开(公告)日：2021-12-02
申请号：US16884975
申请日：2020-05-27
Applicant: Zoox, Inc.
Inventor： William Anthony Silva , Abishek Krishna Akella
IPC: B60W30/09 , B60W60/00 , B60W30/095
Abstract: A vehicle safety system within an autonomous or semi-autonomous vehicle may predict and avoid collisions between the vehicle and other moving objects in the environment. The vehicle safety system may determine one or more perturbed trajectories for another object in the environment, for example, by perturbing the state parameters of a perceived trajectory associated with the object. Each perturbed trajectory may be evaluated to determine whether it intersects or potentially collides the planned trajectory of the vehicle. In some examples, the vehicle safety system may aggregate the results of analyses of multiple perturbed trajectories to determine a collision probability and/or additional weights or adjustment factors associated with the collision prediction, and may determine actions for the vehicle to take based on the collision predictions and probabilities.
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公开(公告)号：US10816987B2
公开(公告)日：2020-10-27
申请号：US16160594
申请日：2018-10-15
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , Janek Hudecek
Abstract: Acceleration determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, objects in an environment of the vehicle are identified and a probability that each object will impact travel of the vehicle is determined. Individual accelerations for responding to each object may also be determined. Weighting factors for each of the accelerations may also be determined based on the probabilities. A control acceleration may be determined based on the weighting factors and the accelerations.
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公开(公告)号：US20200233414A1
公开(公告)日：2020-07-23
申请号：US16251788
申请日：2019-01-18
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , Janek Hudecek , Marin Kobilarov , Marc Wimmershoff
IPC: G05D1/00 , G06K9/00 , B60W30/165 , B60W30/16 , G05D1/02
Abstract: Command determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, individual requests for controlling the vehicle relative to each of multiple objects or conditions in an environment are received (substantially simultaneously) and based on the request type and/or additional information associated with a request, command controllers can determine control commands (e.g., different accelerations, steering angles, steering rates, and the like) associated with each of the one or more requests. The command controllers may have different controller gains (which may be based on functions of distance, distance ratios, time to estimated collisions, etc.) for determining the controls and a control command may be determined based on the all such determined controls.
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公开(公告)号：US12179792B2
公开(公告)日：2024-12-31
申请号：US17479777
申请日：2021-09-20
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , Janek Hudecek , Marin Kobilarov , Marc Wimmershoff
IPC: B60W60/00
Abstract: Command determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, individual requests for controlling the vehicle relative to each of multiple objects or conditions in an environment are received (substantially simultaneously) and based on the request type and/or additional information associated with a request, command controllers can determine control commands (e.g., different accelerations, steering angles, steering rates, and the like) associated with each of the one or more requests. The command controllers may have different controller gains (which may be based on functions of distance, distance ratios, time to estimated collisions, etc.) for determining the controls and a control command may be determined based on the all such determined controls.
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Patent Agency Ranking
公开(公告)号：US20230274636A1
公开(公告)日：2023-08-31
申请号：US18144680
申请日：2023-05-08
Applicant: Zoox, Inc.
CPC classification number: G08G1/04 , B60W30/09 , G05D1/0055 , G05D1/021 , G08G1/0112 , G08G1/0125 , G08G1/093
Abstract: Techniques for determining that a first vehicle is associated with a reverse state, and controlling a second vehicle based on the reverse state, are described herein. In some examples, the first vehicle may provide an indication that the first vehicle will be executing a reverse maneuver, such as with reverse lights on the vehicle or by positioning at an angle relative to a road or parking space to allow for the reverse maneuver into a desired location. A planning system of the second vehicle (such as an autonomous vehicle) may receive sensor data and determine a variety of these indications to determine a probability that the vehicle is going to execute a reverse maneuver. The second vehicle can further determine a likely trajectory of the reverse maneuver and can provide appropriate accommodations (e.g., time and/or space) to allow the second vehicle to execute the maneuver safely and efficiently.
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公开(公告)号：US11682296B2
公开(公告)日：2023-06-20
申请号：US16456987
申请日：2019-06-28
Applicant: Zoox, Inc.
CPC classification number: G08G1/04 , B60W30/09 , G05D1/0055 , G05D1/021 , G08G1/0112 , G08G1/0125 , G08G1/093
Abstract: Techniques for determining that a first vehicle is associated with a reverse state, and controlling a second vehicle based on the reverse state, are described herein. In some examples, the first vehicle may provide an indication that the first vehicle will be executing a reverse maneuver, such as with reverse lights on the vehicle or by positioning at an angle relative to a road or parking space to allow for the reverse maneuver into a desired location. A planning system of the second vehicle (such as an autonomous vehicle) may receive sensor data and determine a variety of these indications to determine a probability that the vehicle is going to execute a reverse maneuver. The second vehicle can further determine a likely trajectory of the reverse maneuver and can provide appropriate accommodations (e.g., time and/or space) to allow the second vehicle to execute the maneuver safely and efficiently.
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公开(公告)号：US11513519B1
公开(公告)日：2022-11-29
申请号：US16562311
申请日：2019-09-05
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , William Anthony Silva , Marc Wimmershoff
Abstract: 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 or sensor limitation. An occluded region for an object is determined by the vehicle as part of an occlusion grid, from the perspective of the vehicle. The vehicle may receive another occlusion grid from another source, such as another vehicle or a remote computing device that stores and distributes occlusion grids. The other occlusion grid may be from a different perspective than the occlusion grid generated by the vehicle, and may include occupancy data for the region that is otherwise occluded from the perspective of the vehicle. The vehicle can be controlled to traverse the environment based on the occupancy data received from the other source.
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公开(公告)号：US11126178B2
公开(公告)日：2021-09-21
申请号：US16251788
申请日：2019-01-18
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , Janek Hudecek , Marin Kobilarov , Marc Wimmershoff
IPC: G05D1/00 , B60W30/16 , B60W30/165 , G05D1/02 , G06K9/00
Abstract: Command determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, individual requests for controlling the vehicle relative to each of multiple objects or conditions in an environment are received (substantially simultaneously) and based on the request type and/or additional information associated with a request, command controllers can determine control commands (e.g., different accelerations, steering angles, steering rates, and the like) associated with each of the one or more requests. The command controllers may have different controller gains (which may be based on functions of distance, distance ratios, time to estimated collisions, etc.) for determining the controls and a control command may be determined based on the all such determined controls.
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公开(公告)号：US20200117200A1
公开(公告)日：2020-04-16
申请号：US16160594
申请日：2018-10-15
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , Janek Hudecek
Abstract: Acceleration determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, objects in an environment of the vehicle are identified and a probability that each object will impact travel of the vehicle is determined. Individual accelerations for responding to each object may also be determined. Weighting factors for each of the accelerations may also be determined based on the probabilities. A control acceleration may be determined based on the weighting factors and the accelerations.
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