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

IPC: B60W30/18 ,  B60W40/04 ,  B60W60/00 ,  B60W30/06

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.

公开(公告)号：US12038348B1

公开(公告)日：2024-07-16

申请号：US17363913

申请日：2021-06-30

Applicant: Zoox, Inc.

Inventor： Kazuhide Okamoto

IPC: G01M17/02 ,  B60C11/24 ,  B60W60/00 ,  G06N20/00 ,  G06T7/50 ,  G07C5/00

CPC classification number: G01M17/027 ,  B60C11/246 ,  B60W60/0018 ,  G06N20/00 ,  G06T7/50 ,  G07C5/006 ,  G07C5/008 ,  B60W2420/403 ,  G06T2207/30248

Abstract: Techniques for determining a condition of a component of a vehicle and/or adjusting a configuration of a vehicle based on a condition of a component of the vehicle are discussed herein. The vehicle can receive vehicle component data and use the vehicle component data to determine a condition of one or more vehicle components. The vehicle can use a sensor, such as an image sensor, to capture or otherwise determine the vehicle component data. The condition of the component(s) of the vehicle may be determined using a machine learned model trained to determine condition of the component from image data. The vehicle can determine vehicle configuration data based on the condition. The vehicle configuration data may include an instruction to navigate to a maintenance facility, to remove the vehicle from service, constraining operation of the vehicle, etc.

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.