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公开(公告)号：US20220073096A1
公开(公告)日：2022-03-10
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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公开(公告)号：US20210096571A1
公开(公告)日：2021-04-01
申请号：US16708019
申请日：2019-12-09
Applicant: Zoox, Inc.
Inventor： Sai Anurag Modalavalasa , Gerrit Bagschik , Andrew Scott Crego , Antoine Ghislain Deux , Rodin Lyasoff , James William Vaisey Philbin , Ashutosh Gajanan Rege , Andreas Christian Reschka , Marc Wimmershoff
Abstract: Techniques for determining an error model based on vehicle data and ground truth data are discussed herein. To determine whether a complex system (which may be not capable of being inspected) is able to operate safely, various operating regimes (scenarios) can be identified based on operating data. To provide safe operation of such a system, an error model can be determined that can provide a probability associated with perception data and a vehicle can determine a trajectory based on the probability of an error associated with the perception data.
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公开(公告)号：US10509410B2
公开(公告)日：2019-12-17
申请号：US15833695
申请日：2017-12-06
Applicant: Zoox, Inc.
Inventor： Marcus Hammond , Marc Wimmershoff , Timothy David Kentley-Klay
Abstract: Remote controlling of a vehicle, such as an autonomous vehicle, may sometimes be more efficient and/or reliable. Such control, however, may require processes for ensuring safety of surrounding persons and objects. Aspects of this disclosure include using onboard sensors to detect objects in an environment and alter remote commands according to such objects, e.g. by reducing a maximum permitted velocity of the vehicle as a function of distance to detected objects. In some examples described herein, such remote controlling may be performed by using objects in the environment as control objects, with movements of the control objects resulting in movement of the vehicle.
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公开(公告)号：US20190171218A1
公开(公告)日：2019-06-06
申请号：US15833695
申请日：2017-12-06
Applicant: Zoox, Inc.
Inventor： Marcus Hammond , Marc Wimmershoff , Timothy David Kentley-Klay
Abstract: Remote controlling of a vehicle, such as an autonomous vehicle, may sometimes be more efficient and/or reliable. Such control, however, may require processes for ensuring safety of surrounding persons and objects. Aspects of this disclosure include using onboard sensors to detect objects in an environment and alter remote commands according to such objects, e.g. by reducing a maximum permitted velocity of the vehicle as a function of distance to detected objects. In some examples described herein, such remote controlling may be performed by using objects in the environment as control objects, with movements of the control objects resulting in movement of the vehicle.
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公开(公告)号：US11731620B2
公开(公告)日：2023-08-22
申请号：US17461647
申请日：2021-08-30
Applicant: Zoox, Inc.
IPC: B60W30/09 , B60R21/0134 , B60W30/095 , G05D1/00 , G05D1/02 , G08G1/16
CPC classification number: B60W30/09 , B60R21/0134 , B60W30/0953 , B60W30/0956 , G05D1/0077 , G05D1/0223 , G08G1/166 , G05D2201/0213
Abstract: A vehicle may include a primary system and a secondary system to validate operation of the primary system and to control the vehicle to avoid collisions. For example, the secondary system may receive multiple trajectories from the primary system, such as a primary trajectory and a secondary, contingent, trajectory associated with a deceleration or other maneuver. The secondary system may determine if a trajectory is associated with a potential collision, if the trajectory is consistent with a current or previous pose, if the trajectory is compatible with a capability of the vehicle, etc. The secondary system may select the primary trajectory if valid, the secondary trajectory if the primary trajectory is invalid, or another trajectory generated by the secondary system if the primary trajectory and the secondary trajectory are invalid. If no valid trajectory is determined, the vehicle may decelerate at a maximum rate.
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Patent Agency Ranking
公开(公告)号：US11442460B2
公开(公告)日：2022-09-13
申请号：US16715736
申请日：2019-12-16
Applicant: Zoox, Inc.
Inventor： Marcus Hammond , Marc Wimmershoff , Timothy David Kentley-Klay
Abstract: Remote controlling of a vehicle, such as an autonomous vehicle, may sometimes be more efficient and/or reliable. Such control, however, may require processes for ensuring safety of surrounding persons and objects. Aspects of this disclosure include using onboard sensors to detect objects in an environment and alter remote commands according to such objects, e.g. by reducing a maximum permitted velocity of the vehicle as a function of distance to detected objects. In some examples described herein, such remote controlling may be performed by using objects in the environment as control objects, with movements of the control objects resulting in movement of the vehicle.
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公开(公告)号：US11104332B2
公开(公告)日：2021-08-31
申请号：US16218182
申请日：2018-12-12
Applicant: Zoox, Inc.
IPC: B60W30/09 , B60R21/0134 , B60W30/095 , G05D1/00 , G05D1/02 , G08G1/16
Abstract: A vehicle may include a primary system and a secondary system to validate operation of the primary system and to control the vehicle to avoid collisions. For example, the secondary system may receive multiple trajectories from the primary system, such as a primary trajectory and a secondary, contingent, trajectory associated with a deceleration or other maneuver. The secondary system may determine if a trajectory is associated with a potential collision, if the trajectory is consistent with a current or previous pose, if the trajectory is compatible with a capability of the vehicle, etc. The secondary system may select the primary trajectory if valid, the secondary trajectory if the primary trajectory is invalid, or another trajectory generated by the secondary system if the primary trajectory and the secondary trajectory are invalid. If no valid trajectory is determined, the vehicle may decelerate at a maximum rate.
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公开(公告)号：US20210094540A1
公开(公告)日：2021-04-01
申请号：US16586853
申请日：2019-09-27
Applicant: Zoox, Inc.
Inventor： Gerrit Bagschik , Andrew Scott Crego , Antoine Ghislain Deux , Rodin Lyasoff , James William Vaisey Philbin , Marc Wimmershoff , Andreas Christian Reschka , Ashutosh Gajanan Rege , Sai Anurag Modalavalasa
IPC: B60W30/095 , G06K9/00 , G06T7/70
Abstract: Techniques for determining an error model associated with a system/subsystem of vehicle controller are discussed herein. To determine whether a complex system (which may be uninspectable) is able to operate safely, errors can be introduced into operating regimes (scenarios) to validate the safe operation of such a system. By comparing captured and/or generated vehicle data with ground truth data, an error of the system can be statistically quantified and modeled. The statistical model can be used to introduce errors to the scenario to perturb the scenario to test, for example, a vehicle controller. Based on a simulation of the vehicle controlled in the perturbed scenario, a safety metric associated with the vehicle controller can be determined, as well as causes for any failures.
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公开(公告)号：US20200211394A1
公开(公告)日：2020-07-02
申请号：US16232863
申请日：2018-12-26
Applicant: Zoox, Inc.
Inventor： Andrew Lewis King , Kristofer Sven Smeds , Jefferson Bradfield Packer , Robert Edward Somers , Marc Wimmershoff
Abstract: A vehicle may include a primary system for generating data to control the vehicle and a secondary system that validates the data and/or other data to avoid collisions. For example, the primary system may localize the vehicle, detect an object around the vehicle, predict an object trajectory, and generate a trajectory for the vehicle. The secondary system may localize the vehicle, detect an object around the vehicle, predict an object trajectory, and evaluate a trajectory generated by the primary system. The secondary system may also monitor components of the vehicle to detect an error. If the secondary system detects an error with a trajectory generated by the primary system and/or an error with a component of the vehicle, the secondary system may cause the vehicle to perform a maneuver, such as decelerating, changing lanes, swerving, etc.
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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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