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公开(公告)号：US12128878B1
公开(公告)日：2024-10-29
申请号：US17716974
申请日：2022-04-08
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Zheyuan Xie
CPC classification number: B60W30/06 , G01C21/3476 , G06Q30/0283 , G07C1/30 , G08G1/147 , B60W2552/05
Abstract: Techniques for controlling a vehicle to select parking spaces are discussed herein. The vehicle may receive a request to travel to a destination and obtain information about a first set and a second set of parking spaces within a threshold distance of the destination. The vehicle may determine a first likelihood of availability associated with the first set of parking spaces and a second likelihood of availability associated with the second set of parking spaces. The vehicle may determine a first cost associated with a first route to the first set of parking spaces and a second cost associated with a second route to the second set of parking spaces by the cost function. Upon determining that the first cost is equal to or less than the second cost, the vehicle may navigate based on the first route and park within one of the first set of parking spaces.
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2.发明公开公开(公告)号：US20230182772A1
公开(公告)日：2023-06-15
申请号：US17550969
申请日：2021-12-14
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Genie Kim , Zheyuan Xie
CPC classification number: B60W60/0011 , B60W60/0015 , B60W60/00253 , B60W60/00274 , B60W40/04 , B60W30/146 , G06Q50/30 , B60Q9/008 , G06N20/00 , B60W2540/041 , B60W2554/4041 , B60W2554/4042 , B60W2554/80
Abstract: A passenger may be rather vulnerable to safety risks during pickup and/or drop-off of a passenger by a vehicle. To mitigate or eliminate such risk, the vehicle may determine an endpoint for a vehicle route to pickup or drop-off a passenger at a location. The vehicle may determine an estimated path between the endpoint and the location and may determine a safety confidence score by a machine-learned model for the estimated path and/or may predict a trajectory of a detected object to ascertain whether the estimated path is safe. The vehicle may execute any of a number of different mitigation actions to reduce or eliminate a safety risk if one is detected.
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公开(公告)号：US12208819B1
公开(公告)日：2025-01-28
申请号：US17589528
申请日：2022-01-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Yunpeng Pan
IPC: B60W60/00 , B60W30/09 , B60W30/095
Abstract: This disclosure describes techniques for autonomous vehicles to determine driving paths and associated trajectories through unstructured or off-route driving environments. When an object is detected within a driving environment, a vehicle may determine a cost-based side association for the object. Various costs may be used in different examples, including costs based on a cost plot and/or motion primitives that may vary for terminal and non-terminal desired destinations (or ending vehicle states). Using tree searches to determine estimated candidate costs, the autonomous vehicle may compare right-side and left-side driving path costs around the object to determine a side association for the object. Based on the side association, the autonomous vehicle may determine an updated planning corridor and/or a trajectory to control the vehicle from a current state to a desired ending vehicle state.
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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
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Ravi Gogna , Caili Li , Steven Cheng Qian , Jacob Patrick Thalman , Ruikun Yu
IPC: B60W60/00 , G05D1/00 , B60W50/14 , B60W30/095 , B60W40/12
Abstract: 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：US20210197819A1
公开(公告)日：2021-07-01
申请号：US16732122
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto , Joseph Funke , Steven Cheng Qian
Abstract: Techniques for determining a location for a vehicle to join a route structure are discussed herein. A vehicle computing system may operate the vehicle off the route structure according to an inertial-based reference frame. The vehicle computing system may determine a lateral distance of the vehicle to a route of the route structure and an angular difference between a heading of the vehicle and a direction of travel associated with the route. The vehicle computing system may determine a location to rejoin the route based on the lateral distance and the angular difference. In some examples, the vehicle computing system may determine the location based on a sigmoid function. The vehicle computing system may determine a vehicle trajectory to the location and may control the vehicle to the route based on the vehicle trajectory and the inertial-based reference frame.
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Patent Agency Ranking
公开(公告)号：US12054150B2
公开(公告)日：2024-08-06
申请号：US16732122
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto , Joseph Funke , Steven Cheng Qian
CPC classification number: B60W30/18 , B60W30/06 , B60W40/04 , B60W60/0015 , B60W60/0027 , B60W2554/404
Abstract: Techniques for determining a location for a vehicle to join a route structure are discussed herein. A vehicle computing system may operate the vehicle off the route structure according to an inertial-based reference frame. The vehicle computing system may determine a lateral distance of the vehicle to a route of the route structure and an angular difference between a heading of the vehicle and a direction of travel associated with the route. The vehicle computing system may determine a location to rejoin the route based on the lateral distance and the angular difference. In some examples, the vehicle computing system may determine the location based on a sigmoid function. The vehicle computing system may determine a vehicle trajectory to the location and may control the vehicle to the route based on the vehicle trajectory and the inertial-based reference frame.
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公开(公告)号：US20240208486A1
公开(公告)日：2024-06-27
申请号：US18087681
申请日：2022-12-22
Applicant: Zoox, Inc.
Inventor： Steven Cheng Qian , Zheyuan Xie
CPC classification number: B60W30/06 , B60W50/0098 , B60W60/0011
Abstract: Techniques for determining a parking trajectory for an autonomous vehicle. In some examples, a vehicle may navigate to a destination within an environment. The vehicle may receive parking locations proximate the destination, and determine a cost for navigating to each parking location, or multiple locations within a parking space. Each of multiple trajectories may include desired state(s) that represent the desired state information of the vehicle at a specific locations along the trajectory. The vehicle may determine a cost for the trajectory by comparing the predicted pose of the vehicle at the parking state to the target pose of the parking location. The vehicle may follow the trajectory based on the cost.
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公开(公告)号：US11780464B2
公开(公告)日：2023-10-10
申请号：US17555004
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Liam Gallagher
CPC classification number: B60W60/0011 , B60W50/00 , B60W2050/006 , B60W2050/0026 , B60W2510/20 , B60W2520/06 , B60W2520/10 , B60W2520/12
Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.
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公开(公告)号：US11999380B1
公开(公告)日：2024-06-04
申请号：US17554693
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan
IPC: B60W60/00
CPC classification number: B60W60/0011 , B60W2520/06 , B60W2520/10 , B60W2520/12
Abstract: Techniques are discussed for generating and optimizing trajectories for controlling autonomous vehicles in performing on-route and off-route actions within a driving environment. A planning component of an autonomous vehicle can receive or generate time-discretized (or temporal) trajectories for the autonomous vehicle to traverse an environment. Trajectories can be optimized, for example, based on the lateral and longitudinal dynamics of the vehicle, using loss functions and/or costs. In some examples, the temporal optimization of a trajectory may include resampling a previous trajectory based on the differences in the time sequences of the temporal trajectories, to ensure temporal consistency of trajectories across planning cycles. Constraints also may be applied during temporal optimization in some examples, to control or restrict driving maneuvers that are not supported by the autonomous vehicle.
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公开(公告)号：US20230060500A1
公开(公告)日：2023-03-02
申请号：US17463008
申请日：2021-08-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Ravi Gogna , Caili Li , Steven Cheng Qian , Jacob Patrick Thalman , Ruikun Yu
Abstract: Techniques for requesting remote assistance from a vehicle are discussed. The techniques include receiving, from a remote computing device, coordinates of a footprint in which the vehicle is capable of stopping. The techniques further include receiving, from the remote computing device, a target orientation associated with the footprint. The techniques may determine a path to the footprint based to achieve target orientation associated with the footprint.
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