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公开(公告)号：US11643073B2
公开(公告)日：2023-05-09
申请号：US16663185
申请日：2019-10-24
申请人： Zoox, Inc.
CPC分类号： B60W30/09 , B60W30/0956 , B60W30/18154 , G05D1/0088 , G05D1/0223 , G08G1/166 , B60W2554/80 , G05D2201/0213
摘要： The described techniques relate to modifying a trajectory of a vehicle, such as an autonomous vehicle, based on an overlap area associated with an object in the environment. In examples, map data may be used, in part, to generate an initial trajectory for an autonomous vehicle to follow through an environment. In some cases, a yield trajectory may be generated based on detection of the object, and the autonomous vehicle may evaluate a cost function to determine whether to execute the yield or follow the initial trajectory. In a similar manner, the autonomous vehicle may determine a merge location of two lanes of a junction, and use the merge location to update extents of an overlap area to prevent the autonomous vehicle from blocking the junction and/or provide sufficient space to yield to the oncoming vehicle while merging.
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公开(公告)号：US20220363256A1
公开(公告)日：2022-11-17
申请号：US17870671
申请日：2022-07-21
申请人： Zoox, Inc.
IPC分类号： B60W30/18 , B60W40/105 , G05D1/00 , G05D1/02
摘要： The described techniques relate to modifying a trajectory of a vehicle, such as an autonomous vehicle, based on an overlap area associated with an object in the environment. In examples, map data may be used, in part, to generate an initial trajectory for an autonomous vehicle to follow through an environment. In some cases, a yield trajectory may be generated based on detection of the object, and the autonomous vehicle may evaluate a cost function to determine whether to execute the yield or follow the initial trajectory. In a similar manner, the autonomous vehicle may determine a merge location of two lanes of a junction, and use the merge location to update extents of an overlap area to prevent the autonomous vehicle from blocking the junction and/or provide sufficient space to yield to the oncoming vehicle while merging.
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公开(公告)号：US11480962B1
公开(公告)日：2022-10-25
申请号：US16457197
申请日：2019-06-28
申请人： Zoox, Inc.
摘要： A vehicle can determine a drivable region of an environment and determine an expansion region to expand the drivable region. Candidate regions can be identified in the environment and portions of the candidate regions which may be used for planning can be determined. The width of such a portion can meet or exceed a threshold and an expansion region can be determined. The expansion region can be associated with the drivable region to determine an expanded drivable region. The vehicle can traverse the environment based on the expanded drivable region to avoid, for example, an object in the environment while maintaining a safe distance the object and/or other entities in the environment.
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公开(公告)号：US11077878B2
公开(公告)日：2021-08-03
申请号：US16566821
申请日：2019-09-10
申请人： Zoox, Inc.
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 reference trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment in a first drivable area. An object within a distance threshold can be detected in the environment and a second drivable area can be determined. Further, the techniques can include determining a target trajectory based at least in part on the reference trajectory and/or the second drivable area which can provide a region for the object to traverse the environment, and controlling the autonomous vehicle to traverse the environment based at least in part on the target trajectory.
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公开(公告)号：US11110918B2
公开(公告)日：2021-09-07
申请号：US16566828
申请日：2019-09-10
申请人： Zoox, Inc.
IPC分类号： B60W60/00 , B60W30/095 , G05D1/02 , G08G1/16 , G05D1/00
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：US20210122373A1
公开(公告)日：2021-04-29
申请号：US16663161
申请日：2019-10-24
申请人： Zoox, Inc.
IPC分类号： B60W30/18 , B60W40/105 , G05D1/02 , G05D1/00
摘要： The described techniques relate to modifying a trajectory of a vehicle, such as an autonomous vehicle, based on an overlap area associated with an object in the environment. In examples, map data may be used, in part, to generate an initial trajectory for an autonomous vehicle to follow through an environment. In some cases, a yield trajectory may be generated based on detection of the object, and the autonomous vehicle may evaluate a cost function to determine whether to execute the yield or follow the initial trajectory. In a similar manner, the autonomous vehicle may determine a merge location of two lanes of a junction, and use the merge location to update extents of an overlap area to prevent the autonomous vehicle from blocking the junction and/or provide sufficient space to yield to the oncoming vehicle while merging.
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公开(公告)号：US12115990B2
公开(公告)日：2024-10-15
申请号：US17870671
申请日：2022-07-21
申请人： Zoox, Inc.
IPC分类号： B60W30/18 , B60W40/105 , G05D1/00 , G05D1/02
CPC分类号： B60W30/18154 , B60W40/105 , G05D1/0088 , G05D1/0223 , B60W2554/80
摘要： The described techniques relate to modifying a trajectory of a vehicle, such as an autonomous vehicle, based on an overlap area associated with an object in the environment. In examples, map data may be used, in part, to generate an initial trajectory for an autonomous vehicle to follow through an environment. In some cases, a yield trajectory may be generated based on detection of the object, and the autonomous vehicle may evaluate a cost function to determine whether to execute the yield or follow the initial trajectory. In a similar manner, the autonomous vehicle may determine a merge location of two lanes of a junction, and use the merge location to update extents of an overlap area to prevent the autonomous vehicle from blocking the junction and/or provide sufficient space to yield to the oncoming vehicle while merging.
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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：US11420630B2
公开(公告)日：2022-08-23
申请号：US16663161
申请日：2019-10-24
申请人： Zoox, Inc.
IPC分类号： B60W30/18 , B60W40/105 , G05D1/02 , G05D1/00
摘要： The described techniques relate to modifying a trajectory of a vehicle, such as an autonomous vehicle, based on an overlap area associated with an object in the environment. In examples, map data may be used, in part, to generate an initial trajectory for an autonomous vehicle to follow through an environment. In some cases, a yield trajectory may be generated based on detection of the object, and the autonomous vehicle may evaluate a cost function to determine whether to execute the yield or follow the initial trajectory. In a similar manner, the autonomous vehicle may determine a merge location of two lanes of a junction, and use the merge location to update extents of an overlap area to prevent the autonomous vehicle from blocking the junction and/or provide sufficient space to yield to the oncoming vehicle while merging.
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公开(公告)号：US20210380105A1
公开(公告)日：2021-12-09
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
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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