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公开(公告)号：US20240400103A1
公开(公告)日：2024-12-05
申请号：US18204339
申请日：2023-05-31
Applicant: Zoox, Inc.
Inventor： Matthew Van Heukelom , Chonhyon Park , Olivier Amaury Toupet , Marin Kobilarov
IPC: B60W60/00
Abstract: Techniques for predicting and avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle computing device can implement a model that receives a set of potential reference trajectories for a vehicle to follow at a future time. The model can determine a tracking trajectory for the vehicle to follow while changing between a first reference trajectory and a second reference trajectory. The model may be implemented in connection with a parallel processing unit to determine points defining the tracking trajectory that represent spatial and temporal differences. The tracking trajectory can be used by the vehicle computing device for predicting vehicle actions by the vehicle computing device to control the vehicle.
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公开(公告)号：US20240208548A1
公开(公告)日：2024-06-27
申请号：US18434352
申请日：2024-02-06
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , Rasmus Fonseca , Arian Houshmand , Xianan Huang , Marin Kobilarov , Lichao Ma , Chonhyon Park , Cheng Peng , Matthew Van Heukelom
CPC classification number: B60W60/0027 , G05B13/0265 , B60W2554/402 , B60W2554/4045
Abstract: Trajectory generation for controlling motion or other behavior of an autonomous vehicle may include alternately determining a candidate action and predicting a future state based on that candidate action. The technique may include determining a cost associated with the candidate action that may include an estimation of a transition cost from a current or former state to a next state of the vehicle. This cost estimate may be a lower bound cost or an upper bound cost and the tree search may alternately apply the lower bound cost or upper bound cost exclusively or according to a ratio or changing ratio. The prediction of the future state may be based at least in part on a machine-learned model's classification of a dynamic object as being a reactive object or a passive object, which may change how the dynamic object is modeled for the prediction.
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Patent Agency Ranking
公开(公告)号：US20230041975A1
公开(公告)日：2023-02-09
申请号：US17394334
申请日：2021-08-04
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , Rasmus Fonseca , Arian Houshmand , Xianan Huang , Marin Kobilarov , Lichao Ma , Chonhyon Park , Cheng Peng , Matthew Van Heukelom
Abstract: Trajectory generation for controlling motion or other behavior of an autonomous vehicle may include alternately determining a candidate action and predicting a future state based on that candidate action. The technique may include determining a cost associated with the candidate action that may include an estimation of a transition cost from a current or former state to a next state of the vehicle. This cost estimate may be a lower bound cost or an upper bound cost and the tree search may alternately apply the lower bound cost or upper bound cost exclusively or according to a ratio or changing ratio. The prediction of the future state may be based at least in part on a machine-learned model's classification of a dynamic object as being a reactive object or a passive object, which may change how the dynamic object is modeled for the prediction.
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公开(公告)号：US20230036371A1
公开(公告)日：2023-02-02
申请号：US17962181
申请日：2022-10-07
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , William Anthony Silva , Matthew Van Heukelom
Abstract: Techniques described herein are directed to classifying lanes in an environment of a vehicle for, for example, performing lane handling. In an example, system(s) of a vehicle can determine a signal indicative of a presence of the vehicle in a lane of a drivable surface in an environment within which the vehicle is located. The system(s) can determine, based at least in part on the signal, a classification of the lane as at least one of occupied (an object is at least partially in the lane), unoccupied (no object in the lane), and/or established (e.g., where an object has established a priority in the lane). The system(s) can control the vehicle based at least in part on the classification of the lane to improve safety in scenarios, for example, including merging.
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公开(公告)号：US11468773B2
公开(公告)日：2022-10-11
申请号：US16546241
申请日：2019-08-20
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , William Anthony Silva , Matthew Van Heukelom
Abstract: Techniques described herein are directed to classifying lanes in an environment of a vehicle for, for example, performing lane handling. In an example, system(s) of a vehicle can determine a signal indicative of a presence of the vehicle in a lane of a drivable surface in an environment within which the vehicle is located. The system(s) can determine, based at least in part on the signal, a classification of the lane as at least one of occupied (an object is at least partially in the lane), unoccupied (no object in the lane), and/or established (e.g., where an object has established a priority in the lane). The system(s) can control the vehicle based at least in part on the classification of the lane to improve safety in scenarios, for example, including merging.
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公开(公告)号：US11353874B2
公开(公告)日：2022-06-07
申请号：US16546224
申请日：2019-08-20
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , William Anthony Silva , Matthew Van Heukelom
Abstract: Techniques described herein relate to lane handling, for instance to enable vehicles to perform turns without colliding into oncoming vehicles and/or bicycles in other lanes. System(s) associated with a vehicle can access sensor data and/or map data associated with an environment within which the vehicle is positioned in a first lane. The system(s) can determine that the vehicle is to perform a turn and a start of a second lane associated with the turn or a merging zone associated with the second lane. The system(s) can determine a location of the vehicle relative to the start of the second lane or the merging zone associated with the second lane and, based partly on the location, can cause the vehicle to merge into the second lane prior to performing the turn.
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公开(公告)号：US20200174481A1
公开(公告)日：2020-06-04
申请号：US16206877
申请日：2018-11-30
Applicant: Zoox, Inc.
Inventor： Matthew Van Heukelom , Jefferson Bradfield Packer
Abstract: Techniques are discussed for evaluating trajectories based on risk associated with the trajectories with respect to predicted locations of objects in an environment. A vehicle can capture sensor data of an environment, which may include object(s) separate from the vehicle, such as another vehicle or a pedestrian. A prediction system can output a discretized probability distribution comprising prediction probabilities associated with possible locations of the object in the future. Heat maps, as an example discretized probability distribution, can represent one or more objects. Trajectories can be generated for the vehicle to follow in the environment. An overlap between a region of the vehicle along a trajectory and the heat map can be determined, and a probability associated with the overlap can represent a risk associated with a trajectory navigating through the environment. The vehicle can be controlled based on risks associated with the various trajectories.
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