公开(公告)号：US11500385B2

公开(公告)日：2022-11-15

申请号：US16588529

申请日：2019-09-30

申请人： Zoox, Inc.

发明人： Chuang Wang ,  Joshua Kriser Cohen ,  James William Vaisey Philbin ,  Jacob Daniel Boydston ,  Yuesong Xie ,  Hang Ren ,  Yuan Zhang

IPC分类号： G05D1/02 ,  G08G1/16 ,  G06N3/08

摘要： A collision avoidance system may validate, reject, or replace a trajectory generated to control a vehicle. The collision avoidance system may comprise a secondary perception component that may receive sensor data, receive and/or determine a corridor associated with operation of a vehicle, classify a portion of the sensor data associated with the corridor as either ground or an object, determine a position and/or velocity of at least the nearest object, determine a threshold distance associated with the vehicle, and control the vehicle based at least in part on the position and/or velocity of the nearest object and the threshold distance.

公开(公告)号：US11353592B2

公开(公告)日：2022-06-07

申请号：US16588717

申请日：2019-09-30

申请人： Zoox, Inc.

发明人： Michael Carsten Bosse ,  Jacob Daniel Boydston ,  Joshua Kriser Cohen ,  Chuang Wang

IPC分类号： G01S17/931 ,  G01S7/48 ,  G05D1/00 ,  G05D1/02 ,  H04L67/12

摘要： Classifying sensor data as being associated with ground (as opposed to an object) may comprise determining a number of channels of sensor data that have returns in them, setting a number of control points and a number of knots of a curve based at least in part on the number of channels that have returns, and fitting a curve having the number of control points and the number of knots to the sensor data. The curve may be used to distinguish sensor data associated with the ground from sensor data associated with an object. Determining the curve may additionally or alternatively include limiting an elevation value of a control point and/or knot based on elevation value(s) of the sensor data, weighting the sensor data based at least in part on elevation values associated with the sensor data, and/or adjusting knot spacing, et alia.

公开(公告)号：US11353578B2

公开(公告)日：2022-06-07

申请号：US16289068

申请日：2019-02-28

申请人： Zoox, Inc.

发明人： Chuang Wang ,  Joshua Kriser Cohen

IPC分类号： G01S13/931 ,  G01S13/08

摘要： Techniques are discussed for determining reflected returns in radar sensor data. In some instances, pairs of radar returns may be compared to one another. For example, a reflection point may be determined from a first position of a first radar return and a second position of a second radar return. Additional data, e.g., sensor data and/or map data, may be used to determine the presence of objects in the environment. The first return or the second return may be a reflected return if an object is disposed at the reflection point. In some instances, a vehicle, such as an autonomous vehicle, may be controlled at the exclusion of information from reflected returns.

公开(公告)号：US11054515B2

公开(公告)日：2021-07-06

申请号：US16019067

申请日：2018-06-26

申请人： Zoox, Inc.

发明人： Joshua Kriser Cohen ,  Yu Liu ,  Chuang Wang

IPC分类号： G01S13/58 ,  G01S13/931

摘要： Sensors, including radar sensors, may be used to detect objects in an environment. In an example, a vehicle may include multiple radar sensors that sense objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Data from a first of the radar sensors can be analyzed to determine a cluster representing an object. Data received from a second sensor (and additional sensors, as included) at substantially the same time can be analyzed to determine additional points to include in the cluster. In additional examples, the radar sensors can have a different interval, e.g., Doppler interval, and information about the points and the intervals can be used to determine a speed of the object relative to the vehicle.

公开(公告)号：US20210096241A1

公开(公告)日：2021-04-01

申请号：US16587605

申请日：2019-09-30

申请人： Zoox, Inc.

发明人： Anton Mario Bongio Karrman ,  Cooper Stokes Sloan ,  Chuang Wang ,  Joshua Kriser Cohen ,  Yassen Ivanchev Dobrev ,  Jifei Qian

IPC分类号： G01S13/93 ,  G06N3/04 ,  G06N3/08 ,  G01S13/42 ,  G01S7/41 ,  G05D1/02 ,  G05D1/00

摘要： Techniques for updating data operations in a perception system are discussed herein. A vehicle may use a perception system to capture data about an environment proximate to the vehicle. The perception system may receive state data stored in cyclic buffer of globally registered detection and occasionally converted to gridded point cloud in a local reference frame. The two-dimensional gridded point cloud may be processed using one or more neural networks to generate semantic data associated with a scene or physical environment surrounding the vehicle such that the vehicle can make environment aware operational decisions, which may improve reaction time(s) and/or safety outcomes of the autonomous vehicle.

公开(公告)号：US20190391250A1

公开(公告)日：2019-12-26

申请号：US16019067

申请日：2018-06-26

申请人： Zoox, Inc.

发明人： Joshua Kriser Cohen ,  Yu Liu ,  Chuang Wang

IPC分类号： G01S13/58 ,  G01S13/93

摘要： Sensors, including radar sensors, may be used to detect objects in an environment. In an example, a vehicle may include multiple radar sensors that sense objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Data from a first of the radar sensors can be analyzed to determine a cluster representing an object. Data received from a second sensor (and additional sensors, as included) at substantially the same time can be analyzed to determine additional points to include in the cluster. In additional examples, the radar sensors can have a different interval, e.g., Doppler interval, and information about the points and the intervals can be used to determine a speed of the object relative to the vehicle.