公开(公告)号：US20230192127A1

公开(公告)日：2023-06-22

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

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/0011 ,  B60W50/00 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2520/06 ,  B60W2510/20 ,  B60W2050/0026 ,  B60W2050/006

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.

公开(公告)号：US11550324B2

公开(公告)日：2023-01-10

申请号：US16587409

申请日：2019-09-30

Applicant: Zoox, Inc.

Inventor： Zheyuan Xie ,  Joseph Funke ,  Steven Cheng Qian

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/34

Abstract: Techniques and methods for identifying parking zones. For instance, a vehicle may identify a parking zone located near a destination location for the vehicle. The vehicle may then generate one or more lines representing the parking zone. Additionally, the vehicle may generate polygons representing objects located proximate to the parking zone. The vehicle may then determine whether the one or more lines intersect with one or more of the polygons. If the vehicle determines that the one or more lines intersect with one or more of the polygons, then the vehicle may identify one or more first portions of the parking zone that are occupied by one or more objects and as such, unavailable. Using the one or more first portions, the vehicle may identify one or more second portions of the parking zone that are not occupied by objects and as such, available.

公开(公告)号：US11142188B2

公开(公告)日：2021-10-12

申请号：US16732087

申请日：2019-12-31

Applicant: Zoox, Inc.

Inventor： Joseph Funke ,  Steven Cheng Qian ,  Marin Kobilarov

IPC: B60W30/06 ,  G01C21/16 ,  G08G1/14 ,  G01C21/34 ,  G05D1/02

Abstract: Techniques for controlling a vehicle on and off a route structure in an environment are discussed herein. A vehicle computing system controls the vehicle along a route based on a route-based reference system. The vehicle computing system may determine to operate off the route, such as to operate in reverse, park, etc. The vehicle computing system may modify vehicle operations to an inertial-based reference system to navigate to a location off the route. The vehicle computing system may determine a vehicle trajectory to the location off the route based on a reference trajectory between a location on the route and the location off the route and a corridor associated therewith. The vehicle computing system may transition between the route-based reference system and the inertial-based reference system, based on a determination to operate on or off the route.