公开(公告)号：US11994591B2

公开(公告)日：2024-05-28

申请号：US17115180

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: G01S17/931 ,  B60W60/00 ,  G01S13/931 ,  G01S15/931 ,  G06T7/521 ,  G06T7/55 ,  G06T7/70

CPC classification number: G01S17/931 ,  G01S13/931 ,  G01S15/931 ,  G06T7/521 ,  G06T7/55 ,  G06T7/70 ,  B60W60/001 ,  B60W2554/402 ,  B60W2554/4041 ,  G06T2207/10028 ,  G06T2207/30241 ,  G06T2207/30252

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. The sensor may generate first image data at a first configuration and second image data at a second configuration. An estimated depth of an object may be determined from the first image data, and an actual depth of the object may be determined from the second image data, based on the estimated depth. In examples, the first and second configurations have different modulation frequencies such that a nominal maximum depth in the first configuration is greater than the nominal maximum depth in the second configuration.

公开(公告)号：US20230131721A1

公开(公告)日：2023-04-27

申请号：US17384448

申请日：2021-07-23

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Subasingha Shaminda Subasingha ,  Joshua Kriser Cohen ,  Chuang Wang ,  Samantha Marie Ting ,  Badeea Ferdaous Alferdaous Alazem

IPC: G01S7/35 ,  G01S7/16 ,  G01S7/40 ,  G01S13/75 ,  G01S13/931 ,  G01S13/04 ,  G01S13/34

Abstract: Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.

公开(公告)号：US11516613B1

公开(公告)日：2022-11-29

申请号：US17077746

申请日：2020-10-22

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Nam Gook Cho ,  Jonathan Tyler Dowdall ,  Subasingha Shaminda Subasingha

IPC: H04S7/00 ,  G01H7/00 ,  G06K9/62 ,  G05D1/02 ,  G05D1/00

Abstract: Techniques for determining information associated with sounds detected in an environment based on audio data are discussed herein. Audio sensors of a vehicle may determine audio data associated with sounds from the environment. Sounds may be caused by objects in the environment such as emergency vehicles, construction zones, non-emergency vehicles, humans, audio speakers, nature, etc. A model may determine a classification of the audio data and/or a probability value representing a likelihood that sound in the audio data is associated with the classification. A direction of arrival may be determined based on receiving classification values from multiple audio sensors of the vehicle, and other actions can be performed or the vehicle can be controlled based on the direction of arrival.

公开(公告)号：US20220348192A1

公开(公告)日：2022-11-03

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

IPC: B60W30/08 ,  G08G1/16 ,  G01B7/16 ,  G01V1/00 ,  B60W60/00

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.

公开(公告)号：US11336998B1

公开(公告)日：2022-05-17

申请号：US17127878

申请日：2020-12-18

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Nam Gook Cho ,  Nathan Duarte ,  Subasingha Shaminda Subasingha

IPC: H04R3/00 ,  H04R1/40 ,  B60Q5/00 ,  B60R16/023 ,  G10L25/51

Abstract: Techniques for estimating a direction of arrival of sound in an environment are discussed. First and second audio data are received from a first pair of audio sensors associated with a vehicle. A first region of ambiguity associated with the first pair of audio sensors is determined based on the first and second audio data. Third and fourth audio data are received from a second pair of audio sensors. A second region of ambiguity associated with the second pair of audio sensors is determined based on the third and fourth audio data. The regions of ambiguity can be further based on confidence levels associated with sensor or audio data. An area of intersection of the first region of ambiguity and the second region of ambiguity can be determined. A direction of arrival of an audio event can be determined based on the area of intersection.

公开(公告)号：US11322019B2

公开(公告)日：2022-05-03

申请号：US16661898

申请日：2019-10-23

Applicant: Zoox, Inc.

Inventor： Nam Gook Cho ,  Subasingha Shaminda Subasingha ,  Jonathan Tyler Dowdall ,  Venkata Subrahmanyam Chandra Sekhar Chebiyyam

IPC: G08G1/04 ,  G06K9/62 ,  G01S3/803

Abstract: Techniques for determining a direction of arrival of an emergency are discussed. A plurality of audio sensors of a vehicle can receive audio data associated with the vehicle. An audio sensor pair can be selected from the plurality of audio sensors to generate audio data representing sound in an environment of the vehicle. An angular spectrum associated with the audio sensor pair can be determined based on the audio data. A feature associated with the audio data can be determined based on the angular spectrum and/or the audio data itself. A direction of arrival (DoA) value associated with the sound may be determined based on the feature using a machine learned model. An emergency sound (e.g., a siren) can be detected in the audio data and a direction associated with the emergency relative to the vehicle can be determined based on the feature and the DoA value.

公开(公告)号：US11231481B1

公开(公告)日：2022-01-25

申请号：US16407139

申请日：2019-05-08

Applicant: Zoox, Inc.

Inventor： Joshua Kriser Cohen ,  Anton Mario Bongio Karrman ,  Dilip Bethanabhotla ,  Subasingha Shaminda Subasingha ,  Chuang Wang

IPC: G01S7/292 ,  G01S7/41 ,  G01S13/931

Abstract: Techniques are described for determining a likelihood that a radar device failed to detect an object (i.e., a false negative). Determining the likelihood may be based at least in part on determining an estimated noise floor based at least in part on at least a portion of radar data, which may comprise one or more detections, and determining a likelihood that the portion of radar data includes a false positive, based at least in part on the estimated noise floor and a response profile associated with an object. A response profile may identify a received signal power and/or radar cross section associated with an object type.

公开(公告)号：US20210125494A1

公开(公告)日：2021-04-29

申请号：US16661898

申请日：2019-10-23

Applicant: Zoox, Inc.

Inventor： Nam Gook Cho ,  Subasingha Shaminda Subasingha ,  Jonathan Tyler Dowdall ,  Venkata Subrahmanyam Chandra Sekhar Chebiyyam

IPC: G08G1/04 ,  G01S3/803 ,  G06K9/62

Abstract: Techniques for determining a direction of arrival of an emergency are discussed. A plurality of audio sensors of a vehicle can receive audio data associated with the vehicle. An audio sensor pair can be selected from the plurality of audio sensors to generate audio data representing sound in an environment of the vehicle. An angular spectrum associated with the audio sensor pair can be determined based on the audio data. A feature associated with the audio data can be determined based on the angular spectrum and/or the audio data itself. A direction of arrival (DoA) value associated with the sound may be determined based on the feature using a machine learned model. An emergency sound (e.g., a siren) can be detected in the audio data and a direction associated with the emergency relative to the vehicle can be determined based on the feature and the DoA value.

公开(公告)号：US12174299B1

公开(公告)日：2024-12-24

申请号：US17123579

申请日：2020-12-16

Applicant: Zoox, Inc.

Inventor： Yongzhe Chen ,  Samuel Holladay ,  Turhan Karadeniz ,  Ryan McMichael ,  Subasingha Shaminda Subasingha ,  Joseph Patrick Warga ,  Harrison Thomas Waschura ,  Silas Kogure Wilkinson

IPC: G01S17/89 ,  G01S17/10 ,  G01S17/894 ,  G01S17/931 ,  G06T7/246 ,  G06T7/521 ,  B60W30/09

Abstract: Techniques for determining a distance to an object in an environment based on sensor data are discussed herein. The sensor data can be captured by a sensor, and the sensor data can be based on laser pulses emitted from emitters being differently spaced apart from the sensor. The sensor data can be utilized to determine distance data associated with an object. A difference between the distance data can be used to determine whether the distance data is associated with a retroreflector. If the difference in distance data is above a threshold, a confidence level of sensor data can be adjusted or the sensor data can be discarded or omitted from subsequent processing.

公开(公告)号：US11861857B2

公开(公告)日：2024-01-02

申请号：US17115254

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 ,  G01B11/22 ,  B60W60/00 ,  G01S17/931

CPC classification number: G06T7/521 ,  B60W60/00272 ,  G01B11/22 ,  G01S17/894 ,  G01S17/931 ,  G06T2207/10028 ,  G06T2207/30241 ,  G06T2207/30252

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. The sensor may generate first image data at a first configuration and second image data at a second configuration. A disambiguated depth of a surface may be determined from the first image data and the second image data. If the disambiguated depth is greater than a nominal maximum depth of the sensor in the first configuration, an intensity of the surface may be determined from the first image data. If the intensity meets or exceeds a threshold intensity, the surface may be determined to be beyond the nominal maximum depth. If the intensity is less than the threshold intensity, an actual depth of the surface may be determined form the second image data as a distance less than the nominal maximum depth.