公开(公告)号：US12003929B1

公开(公告)日：2024-06-04

申请号：US17711888

申请日：2022-04-01

申请人： Zoox, Inc.

发明人： Xuan Zhong ,  Arvind Pattabhiraman ,  David Donald Logan ,  Nam Gook Cho ,  Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Shaminda Subasingha

IPC分类号： H04R29/00 ,  B08B7/02 ,  B08B13/00 ,  B60S1/62 ,  B60W50/02 ,  B60W50/06 ,  B60W60/00 ,  H04R1/02 ,  H04R1/08 ,  H04R1/40 ,  H04R3/00

CPC分类号： H04R29/005 ,  B08B7/02 ,  B08B13/00 ,  B60S1/62 ,  B60W50/0205 ,  B60W50/0225 ,  B60W50/06 ,  B60W60/00 ,  H04R1/025 ,  H04R1/08 ,  H04R1/406 ,  H04R3/005 ,  B60W2050/021 ,  B60W2555/20 ,  H04R2499/13

摘要： Techniques for cleaning and calibrating a microphone are discussed herein. For example, a computing device can implement a microphone component to operate a speaker adjacent to a microphone to cause removal of an obstruction (e.g., rain, mud, dirt, dust, snow, ice, animal droppings, etc.) on or near the microphone. The microphone component can also or instead cause the speaker to output a frequency for testing operation of the microphone. By implementing the cleaning and/or calibrating techniques described herein, foreign particle(s) of varying size and type can be dislodged from an area near the microphone to improve performance of the microphone.

公开(公告)号：US11914390B2

公开(公告)日：2024-02-27

申请号：US16836605

申请日：2020-03-31

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC分类号： G05D1/00 ,  G01S17/931 ,  G01S17/89 ,  G08G1/16 ,  G01S17/86

CPC分类号： G05D1/0238 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G08G1/166 ,  G05D2201/0213

摘要： Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.

公开(公告)号：US11480961B1

公开(公告)日：2022-10-25

申请号：US16691424

申请日：2019-11-21

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Nam Gook Cho ,  Jonathan Tyler Dowdall ,  Subasingha Shaminda Subasingha

IPC分类号： G05D1/00 ,  G10L25/51 ,  H04R1/40 ,  H04R3/00 ,  H04R5/02 ,  H04R5/027 ,  H04S3/00 ,  H04S7/00 ,  H04R5/04 ,  H04L67/12

摘要： Immersive experiences for users are described herein. In an example, audio data from a plurality of audio sensors associated with a vehicle can be received by an audio data processing system. The audio data processing system can combine individual captured audio channels (e.g., from the plurality of audio sensors) into two or more audio channels for output via two or more speakers proximate a user. A first audio channel of the two or more audio channels can be output via a first speaker and second audio channel of the two or more audio channels to be output via a second speaker, wherein output of the first audio channel and the second audio channel causes a resulting sound corresponding to at least a portion of a sound scene associated with the vehicle. In an example, a user computing device operable by the user can receive an input from the user.

公开(公告)号：US20220312138A1

公开(公告)日：2022-09-29

申请号：US17216491

申请日：2021-03-29

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Turhan Karadeniz ,  Nam Gook Cho ,  Subasingha Shaminda Subasingha

IPC分类号： H04R29/00 ,  H04R3/00 ,  H04R1/32

摘要： Techniques for adaptive cross-correlation are discussed. A first signal is received from a first audio sensor associated with a vehicle and a second signal is received from a second audio sensor associated with the vehicle. Techniques may include determining, based at least in part on the first signal, a first transformed signal in a frequency domain. Additionally, the techniques include determining, based at least in part on the second signal, a second transformed signal in the frequency domain. A parameter can be determined based at least in part on a characteristic associated with at least one of the vehicle, an environment proximate the vehicle, or one or more of the first or second signal. Cross-correlation data can be determined based at least in part on one or more of the first transformed signal, the second transformed signal, or the parameter.

公开(公告)号：US11851049B1

公开(公告)日：2023-12-26

申请号：US16805250

申请日：2020-02-28

申请人： Zoox, Inc.

发明人： Dilip Bethanabhotla ,  Michael Carsten Bosse ,  Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Nam Gook Cho ,  Jonathan Tyler Dowdall ,  Amanda Brown Prescott ,  Subasingha Shaminda Subasingha ,  Sarah Tariq

IPC分类号： B60W30/09 ,  H04R1/08 ,  G10L25/51 ,  G05D1/00 ,  B60W60/00

CPC分类号： B60W30/09 ,  B60W60/0015 ,  G05D1/0088 ,  G10L25/51 ,  H04R1/08 ,  B60W2420/54 ,  B60W2520/10 ,  B60W2554/4042 ,  B60W2756/10 ,  H04R2499/13

摘要： Techniques for utilizing microphone or audio data to detect and responding to low velocity impacts to a system such as an autonomous vehicle. In some cases, the system may be equipped with a plurality of microphones that may be used to detect impacts that fail to register on the data captured by the vehicle's inertial measurement units and may go undetected by the vehicle's perception system and sensors. In one specific example, the perception system of the autonomous vehicle may identify a period of time in which a potential low velocity impact may occur. The autonomous vehicle may then utilize the microphone or audio data associated with the period of time to determine if an impact occurred.

公开(公告)号：US11606659B2

公开(公告)日：2023-03-14

申请号：US17216491

申请日：2021-03-29

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Turhan Karadeniz ,  Nam Gook Cho ,  Subasingha Shaminda Subasingha

IPC分类号： H04R29/00 ,  H04R1/32 ,  H04R3/00

摘要： Techniques for adaptive cross-correlation are discussed. A first signal is received from a first audio sensor associated with a vehicle and a second signal is received from a second audio sensor associated with the vehicle. Techniques may include determining, based at least in part on the first signal, a first transformed signal in a frequency domain. Additionally, the techniques include determining, based at least in part on the second signal, a second transformed signal in the frequency domain. A parameter can be determined based at least in part on a characteristic associated with at least one of the vehicle, an environment proximate the vehicle, or one or more of the first or second signal. Cross-correlation data can be determined based at least in part on one or more of the first transformed signal, the second transformed signal, or the parameter.

公开(公告)号：US20210302988A1

公开(公告)日：2021-09-30

申请号：US16836632

申请日：2020-03-31

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC分类号： G05D1/02 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  G01S7/4861 ,  G08G1/16

摘要： Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.

公开(公告)号：US20210302987A1

公开(公告)日：2021-09-30

申请号：US16836605

申请日：2020-03-31

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC分类号： G05D1/02 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  G08G1/16

摘要： Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.

公开(公告)号：US11904848B2

公开(公告)日：2024-02-20

申请号：US17245963

申请日：2021-04-30

申请人： Zoox, Inc.

发明人： Marina Camille Josephs ,  Mark Alan Bates ,  Nam Gook Cho ,  Subhasis Das ,  Markus Jost ,  Amanda Brown Prescott ,  Valerie Bumbaca Randolph ,  Subasingha Shaminda Subasingha

IPC分类号： B60W30/08 ,  G08G1/16 ,  G01B7/16 ,  B60W60/00 ,  G01V1/00

CPC分类号： B60W30/08 ,  B60W60/0015 ,  G01B7/18 ,  G01V1/001 ,  G08G1/166 ,  B60W2030/082 ,  B60W2420/54

摘要： This disclosure relates to systems and techniques for identifying collisions, such as relatively low energy impact collisions involving an autonomous vehicle. Sensor data from a first sensor modality in a first array may be used to determine a first estimated location of impact and second sensor data from a second sensor modality in a second array may be used to determine a second estimated location of impact. A low energy impact event may be configured when the first estimated location of impact corresponds to the second estimated location of impact.

公开(公告)号：US11625042B2

公开(公告)日：2023-04-11

申请号：US16836632

申请日：2020-03-31

申请人： Zoox, Inc.

发明人： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC分类号： G05D1/02 ,  G01S17/931 ,  G01S17/86 ,  G01S7/4861 ,  G08G1/16 ,  G01S17/89

摘要： Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.