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公开(公告)号：US10414336B1
公开(公告)日：2019-09-17
申请号：US15986752
申请日：2018-05-22
Applicant: Zoox, Inc.
Inventor： Jacob Avi Harper , Jeremy Yi-Xiong Yang , George Dalman Nelson, III , Forrest Leighton Merrill , Michael Moshe Kohen , Subasingha Shaminda Subasingha , Josh Alexander Jimenez
Abstract: Techniques for using acoustic notifications output via a multi-channel speaker configuration for pedestrian notification are described. Computing device(s) can determine a plurality of signals for dynamically emitting a plurality of sounds via a plurality of speakers associated with an acoustic array disposed on a vehicle. Each signal of the plurality of signals can be emitted from speaker(s) of the plurality of speakers that is/are associated with a particular channel of a plurality of channels. Furthermore, the computing device(s) can cause a portion of the plurality of speakers to dynamically emit the plurality of sounds so that the plurality of sounds are spatialized across the at least one surface of the vehicle. As a result, a pedestrian proximate the vehicle can localize the vehicle as a source of the acoustic notification and perceive a size, or other geometric characteristic, of the vehicle.
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公开(公告)号：US11988775B1
公开(公告)日：2024-05-21
申请号：US16719565
申请日：2019-12-18
Applicant: Zoox, Inc.
Inventor： Harrison Thomas Waschura , Turhan Karadeniz , Ryan McMichael , Robert Nicholas Moor , Denis Nikitin , Subasingha Shaminda Subasingha , Joseph Patrick Warga , Silas Kogure Wilkinson
Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can be impacted by glare. In some examples, an emitter system for illuminating a field of view can be dynamically altered to provide different illumination intensities at different regions in the field of view. For instance, locations at which a highly-reflective object or other object that is likely to cause glare may be illuminated at a lower illumination intensity, e.g., to reduce the likelihood of pixel saturation in measured data associated with the object.
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公开(公告)号：US11904848B2
公开(公告)日：2024-02-20
申请号：US17245963
申请日：2021-04-30
Applicant: Zoox, Inc.
Inventor： Marina Camille Josephs , Mark Alan Bates , Nam Gook Cho , Subhasis Das , Markus Jost , Amanda Brown Prescott , Valerie Bumbaca Randolph , Subasingha Shaminda Subasingha
CPC classification number: B60W30/08 , B60W60/0015 , G01B7/18 , G01V1/001 , G08G1/166 , B60W2030/082 , B60W2420/54
Abstract: This disclosure relates to systems and techniques for identifying collisions, such as relatively low energy impact collisions involving an autonomous vehicle. Sensor data from a first sensor modality in a first array may be used to determine a first estimated location of impact and second sensor data from a second sensor modality in a second array may be used to determine a second estimated location of impact. A low energy impact event may be configured when the first estimated location of impact corresponds to the second estimated location of impact.
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公开(公告)号：US11625042B2
公开(公告)日：2023-04-11
申请号：US16836632
申请日：2020-03-31
Applicant: Zoox, Inc.
Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Aleksandr Oysgelt , Subasingha Shaminda Subasingha , Nam Gook Cho
IPC: G05D1/02 , G01S17/931 , G01S17/86 , G01S7/4861 , G08G1/16 , G01S17/89
Abstract: Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.
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公开(公告)号：US20230033315A1
公开(公告)日：2023-02-02
申请号：US17947561
申请日：2022-09-19
Applicant: Zoox, Inc.
Inventor： Sarah Tariq , Ravi Gogna , Marc Wimmershoff , Subasingha Shaminda Subasingha
Abstract: Techniques for detecting and responding to an emergency vehicle are discussed. A vehicle computing system may determine that an emergency vehicle based on sensor data, such as audio and visual data. In some examples, the vehicle computing system may determine aggregate actions of objects (e.g., other vehicles yielding) proximate the vehicle based on the sensor data. In such examples, a determination that the emergency vehicle is operating may be based on the actions of the objects. The vehicle computing system may, in turn, identify a location to move out of a path of the emergency vehicle (e.g., yield) and may control the vehicle to the location. The vehicle computing system may determine that the emergency vehicle is no longer relevant to the vehicle and may control the vehicle along a route to a destination. Determining to yield and/or returning to a mission may be confirmed by a remote operator.
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Patent Agency Ranking
公开(公告)号：US20220350018A1
公开(公告)日：2022-11-03
申请号：US17245929
申请日：2021-04-30
Applicant: Zoox, Inc.
Inventor： Badeea Ferdaous Alferdaous Alazem , Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Joshua Kriser Cohen , Subasingha Shaminda Subasingha , Samantha Marie Ting , Chuang Wang
IPC: G01S13/931 , G01S13/86 , G01S17/95 , G01S13/89
Abstract: Techniques for determining a probability of a false negative associated with a location of an environment are discussed herein. Data from a sensor, such as a radar sensor, can be received that includes point cloud data, which includes first and second data points. The first data point has a first attribute and the second data point has a second attribute. A difference between the first and second attributes is determined such that a frequency distribution may be determined. The frequency distribution may then be used to determine a distribution function, which allows for the determination of a resolution function that is associated with the sensor. The resolution function may then be used to determine a probability of a false negative at a location in an environment. The probability can be used to control a vehicle in a safe and reliable manner.
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公开(公告)号：US20220180539A1
公开(公告)日：2022-06-09
申请号：US17115320
申请日：2020-12-08
Applicant: Zoox, Inc.
Inventor： Subasingha Shaminda Subasingha , Yongzhe Chen , Mehran Ferdowsi , Samuel Holladay , Turhan Karadeniz , Robert Nicholas Moor , Joseph Patrick Warga , Harrison Thomas Waschura , Silas Kogure Wilkinson
IPC: G06T7/521 , G01S17/894 , G01S17/931 , G01B11/22 , B60W60/00
Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include returns associated with highly reflective objects that cause glare. In some examples, a depth of a sensed surface is determined from the sensor data and additional pixels at the same depth are identified. The subset of pixels at the depth are filtered by comparing a measured intensity value to a threshold intensity value for the depth. Other threshold intensity values can be applied to subsets of pixels at different depths.
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公开(公告)号：US20210096225A1
公开(公告)日：2021-04-01
申请号：US16588267
申请日：2019-09-30
Applicant: Zoox, Inc.
Inventor： Subasingha Shaminda Subasingha , Turhan Karadeniz , Denis Nikitin , Harrison Thomas Waschura
Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can return pixels subject to over-exposure or saturation, which may be from stray light. In some examples, multiple exposures captured at different exposure times can be used to determine a saturation value for sensor data. The saturation value may be used to determine a threshold intensity against which intensity values of a primary exposure are compared. A filtered data set can be obtained based on the comparison.
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公开(公告)号：US20190359128A1
公开(公告)日：2019-11-28
申请号：US16436486
申请日：2019-06-10
Applicant: Zoox, Inc.
Inventor： Jacob Avi Harper , Jeremy Yi-Xiong Yang , Forrest Leighton Merrill , Michael Moshe Kohen , George Dalman Nelson, III , Subasingha Shaminda Subasingha , Josh Alexander Jimenez
Abstract: Techniques for using beam-formed acoustic notifications for pedestrian notification are described. Computing device(s) can receive sensor data associated with an object in an environment of a vehicle. The computing device(s) can determine first data for emitting a first beam of acoustic energy via speaker(s) of an acoustic array associated with the vehicle, and second data for emitting a second beam of acoustic energy via speakers of the acoustic array. The computing device(s) can cause the speaker(s) to emit the first beam in a direction of the object at a first time and the second beam in the direction of the object at a second time. Directions of propagation of the first beam and the second beam are offset so that the object can localize the source the acoustic notification, thereby localizing the vehicle in the environment.
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公开(公告)号：US10315563B1
公开(公告)日：2019-06-11
申请号：US15986739
申请日：2018-05-22
Applicant: Zoox, Inc.
Inventor： Jacob Avi Harper , Jeremy Yi-Xiong Yang , Forrest Leighton Merrill , Michael Moshe Kohen , George Dalman Nelson, III , Subasingha Shaminda Subasingha , Josh Alexander Jimenez
Abstract: Techniques for using beam-formed acoustic notifications for pedestrian notification are described. Computing device(s) can receive sensor data associated with an object in an environment of a vehicle. The computing device(s) can determine first data for emitting a first beam of acoustic energy via speaker(s) of an acoustic array associated with the vehicle, and second data for emitting a second beam of acoustic energy via speakers of the acoustic array. The computing device(s) can cause the speaker(s) to emit the first beam in a direction of the object at a first time and the second beam in the direction of the object at a second time. Directions of propagation of the first beam and the second beam are offset so that the object can localize the source the acoustic notification, thereby localizing the vehicle in the environment.
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