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公开(公告)号：US12054150B2
公开(公告)日：2024-08-06
申请号：US16732122
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto , Joseph Funke , Steven Cheng Qian
CPC classification number: B60W30/18 , B60W30/06 , B60W40/04 , B60W60/0015 , B60W60/0027 , B60W2554/404
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.
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公开(公告)号：US20240109585A1
公开(公告)日：2024-04-04
申请号：US17957756
申请日：2022-09-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Liam Gallagher , Marin Kobilarov , Vincent Andreas Laurense , Mark Jonathon McClelland , Sriram Narayanan , Kazuhide Okamoto , Jack Riley , Jeremy Schwartz , Jacob Patrick Thalman , Olivier Amaury Toupet , David Evan Zlotnik
IPC: B62D7/15
CPC classification number: B62D7/159
Abstract: Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.
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公开(公告)号：US11932308B1
公开(公告)日：2024-03-19
申请号：US17502843
申请日：2021-10-15
Applicant: Zoox, Inc.
Inventor： Zachary Stuart Churukian , David Evan Zlotnik , Joseph Funke
CPC classification number: B62D15/025 , B62D7/159 , B62D6/003 , G05D1/0214 , G05D1/0221
Abstract: Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. Steering angle constraints may be used to limit or prevent saturation of steering by only one set of wheels as well as to reduce sideslip. The steering angle constraints are vehicle independent and applicable across a fleet of different vehicles based on vehicle speed. For instance, the steering angle constraints establish angle limits that dynamically adjust based on vehicle speed to ensure vehicle velocity and acceleration remain within predefined limits as established by autonomous vehicle system design.
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公开(公告)号：US11780464B2
公开(公告)日：2023-10-10
申请号：US17555004
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Liam Gallagher
CPC classification number: B60W60/0011 , B60W50/00 , B60W2050/006 , B60W2050/0026 , B60W2510/20 , B60W2520/06 , B60W2520/10 , B60W2520/12
Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.
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公开(公告)号：US11623686B1
公开(公告)日：2023-04-11
申请号：US16709263
申请日：2019-12-10
Applicant: Zoox, Inc.
Inventor： Jacob Patrick Thalman , Genie Kim , Joseph Funke , Zachary Stuart Churukian
Abstract: Techniques for diagnosing and disambiguating a bias in one or more axels of a bidirectional four-wheel drive vehicle. In some examples, the diagnostics system may diagnose and disambiguate the bias in the two axles by collecting data related to the movement of the vehicle while the vehicle traverses a zero curvature path in a forward direction. The diagnostics system may then determine a bias in an axle acting as the rear axle based on the collected data. The bias in the axle acting as the front axle may then be determined based on the collected data and the bias in the rear axle.
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Patent Agency Ranking
公开(公告)号：US11345400B2
公开(公告)日：2022-05-31
申请号：US16917498
申请日：2020-06-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , David Evan Zlotnik
Abstract: Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.
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公开(公告)号：US20210403081A1
公开(公告)日：2021-12-30
申请号：US16917462
申请日：2020-06-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , David Evan Zlotnik
Abstract: Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.
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公开(公告)号：US20210402984A1
公开(公告)日：2021-12-30
申请号：US17468499
申请日：2021-09-07
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Johannes Edren , Ali Javidan , Jacob Lee Askeland , Vasumathi Raman
Abstract: An over actuated system capable of controlling wheel parameters, such as speed (e.g., by torque and braking), steering angles, caster angles, camber angles, and toe angles, of wheels in an associated vehicle. The system may determine the associated vehicle is in a rollover state and adjust wheel parameters to prevent vehicle rollover. Additionally, the system may determine a driving state and dynamically adjust wheel parameters to optimize driving, including, for example, cornering and parking. Such a system may also dynamically detect wheel misalignment and provide alignment and/or corrective driving solutions. Further, by utilizing degenerate solutions for driving, the system may also estimate tire-surface parameterization data for various road surfaces and make such estimates available for other vehicles via a network.
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公开(公告)号：US20210053616A1
公开(公告)日：2021-02-25
申请号：US16949642
申请日：2020-11-09
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Gowtham Garimella , Marin Kobilarov , Chuang Wang
Abstract: Model-based control of dynamical systems typically requires accurate domain-specific knowledge and specifications system components. Generally, steering actuator dynamics can be difficult to model due to, for example, an integrated power steering control module, proprietary black box controls, etc. Further, it is difficult to capture the complex interplay of non-linear interactions, such as power steering, tire forces, etc. with sufficient accuracy. To overcome this limitation, a recurring neural network can be employed to model the steering dynamics of an autonomous vehicle. The resulting model can be used to generate feedforward steering commands for embedded control. Such a neural network model can be automatically generated with less domain-specific knowledge, can predict steering dynamics more accurately, and perform comparably to a high-fidelity first principle model when used for controlling the steering system of a self-driving vehicle.
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公开(公告)号：US10353390B2
公开(公告)日：2019-07-16
申请号：US15632208
申请日：2017-06-23
Applicant: Zoox, Inc.
Inventor： Gary Linscott , Robert Edward Somers , Joona Markus Petteri Kiiski , Marin Kobilarov , Timothy Caldwell , Jacob Lee Askeland , Ashutosh Gajanan Rege , Joseph Funke
Abstract: Techniques for generating and executing trajectories to guide autonomous vehicles are described. In an example, a first computer system associated with an autonomous vehicle can generate, at a first operational frequency, a route to guide the autonomous vehicle from a current location to a target location. The first computer system can further determine, at a second operational frequency, an instruction for guiding the autonomous vehicle along the route and can generate, at a third operational frequency, a trajectory based at least partly on the instruction and real-time processed sensor data. A second computer system that is associated with the autonomous vehicle and is in communication with the first computer system can execute, at a fourth operational frequency, the trajectory to cause the autonomous vehicle to travel along the route. The separation of the first computer system and the second computer system can provide enhanced safety, redundancy, and optimization.
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