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31.发明授权公开(公告)号：US12269506B2
公开(公告)日：2025-04-08
申请号：US17550969
申请日：2021-12-14
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Genie Kim , Zheyuan Xie
Abstract: A passenger may be rather vulnerable to safety risks during pickup and/or drop-off of a passenger by a vehicle. To mitigate or eliminate such risk, the vehicle may determine an endpoint for a vehicle route to pickup or drop-off a passenger at a location. The vehicle may determine an estimated path between the endpoint and the location and may determine a safety confidence score by a machine-learned model for the estimated path and/or may predict a trajectory of a detected object to ascertain whether the estimated path is safe. The vehicle may execute any of a number of different mitigation actions to reduce or eliminate a safety risk if one is detected.
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公开(公告)号：US12145618B1
公开(公告)日：2024-11-19
申请号：US17502826
申请日：2021-10-15
Applicant: Zoox, Inc.
Inventor： Zachary Stuart Churukian , David Evan Zlotnik , Joseph Funke
IPC: B60W60/00
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：US12093043B2
公开(公告)日：2024-09-17
申请号：US17408997
申请日：2021-08-23
Applicant: Zoox, Inc.
Inventor： Shayan Darayan , Joseph Funke , Marc Wimmershoff
IPC: G05D1/00 , B60W30/095
CPC classification number: G05D1/0088 , B60W30/0956 , G05D1/0214 , G05D1/0238
Abstract: A vehicle can include a primary computing device and a secondary computing device. The primary computing device can receive a trajectory and can generate control data to control the vehicle based on a computed state. Further, the primary computing device can send the internal data to the secondary computing device configured to control the vehicle in the event of a failure of the primary computing device. The secondary computing device can receive the internal data as first internal data and determine a capability associated with the primary computing device. Using the first internal data, the secondary computing device can determine second internal data and, based on the capability (e.g., in event of a failure of the primary computing device), can control the vehicle to follow a trajectory using the second internal data. Transferring state between an active to a standby computing device can ensure algorithmic synchronization and safe operation.
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公开(公告)号：US11999380B1
公开(公告)日：2024-06-04
申请号：US17554693
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan
IPC: B60W60/00
CPC classification number: B60W60/0011 , B60W2520/06 , B60W2520/10 , B60W2520/12
Abstract: Techniques are discussed for generating and optimizing trajectories for controlling autonomous vehicles in performing on-route and off-route actions within a driving environment. A planning component of an autonomous vehicle can receive or generate time-discretized (or temporal) trajectories for the autonomous vehicle to traverse an environment. Trajectories can be optimized, for example, based on the lateral and longitudinal dynamics of the vehicle, using loss functions and/or costs. In some examples, the temporal optimization of a trajectory may include resampling a previous trajectory based on the differences in the time sequences of the temporal trajectories, to ensure temporal consistency of trajectories across planning cycles. Constraints also may be applied during temporal optimization in some examples, to control or restrict driving maneuvers that are not supported by the autonomous vehicle.
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公开(公告)号：US11922740B2
公开(公告)日：2024-03-05
申请号：US16542153
申请日：2019-08-15
Applicant: Zoox, Inc.
Inventor： Johannes Edren , Moritz Boecker , Joseph Funke
CPC classification number: G07C5/0816 , G07C5/008 , G07C5/0808
Abstract: Systems, methods, and apparatuses described herein are directed to vehicle self-diagnostics. For example, a vehicle can include sensors monitoring vehicle components, for perceiving objects and obstacles in an environment, and for navigating the vehicle to a destination. Data from these and other sensors can be leveraged to determine a behavior associated with the vehicle. Based at least in part on determining the behavior, a vehicle can determine a fault and query one or more information sources associated with the vehicle to diagnose the fault. Based on diagnosing the fault, the vehicle can determine instructions for redressing the fault. The vehicle can diagnose the fault in near-real time, that is, while driving or otherwise in the field.
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Patent Agency Ranking
公开(公告)号：US20240034308A1
公开(公告)日：2024-02-01
申请号：US17815994
申请日：2022-07-29
Applicant: Zoox, Inc.
Inventor： Varun Agrawal , Jacob Daniel Boydston , Taylor Scott Clawson , Joshua Dean Egbert , Brian Michael Filarsky , Joseph Funke , Noureldin Ehab Hendy , Richard Hsieh , Glenn Xavier Liem , David Benjamin Lu , Leonardo Poubel Orenstein
CPC classification number: B60W30/09 , B60T7/22 , B60W50/14 , B60W2710/18 , B60W2556/45 , B60W2520/04 , B60W2520/10 , B60W2552/15 , B60W2554/802
Abstract: Systems and techniques for determining a trajectory for use in controlling a vehicle are described. A trajectory determination system may generate a variety of trajectories for potential use in controlling a vehicle, including a maximum braking trajectory that enables the maximum application of the vehicle's brakes. A vehicle computing system may determine a distance between vehicle and an obstacle and stopping distances for the various trajectories and implement the maximum braking trajectory after determining that the distance to stop for that trajectory is the same as, but not substantially greater than, the distance between the vehicle and the obstacle.
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公开(公告)号：US20230060500A1
公开(公告)日：2023-03-02
申请号：US17463008
申请日：2021-08-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Ravi Gogna , Caili Li , Steven Cheng Qian , Jacob Patrick Thalman , Ruikun Yu
Abstract: Techniques for requesting remote assistance from a vehicle are discussed. The techniques include receiving, from a remote computing device, coordinates of a footprint in which the vehicle is capable of stopping. The techniques further include receiving, from the remote computing device, a target orientation associated with the footprint. The techniques may determine a path to the footprint based to achieve target orientation associated with the footprint.
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公开(公告)号：US20210382481A1
公开(公告)日：2021-12-09
申请号：US17408997
申请日：2021-08-23
Applicant: Zoox, Inc.
Inventor： Shayan Darayan , Joseph Funke , Marc Wimmershoff
IPC: G05D1/00 , G05D1/02 , B60W30/095
Abstract: A vehicle can include a primary computing device and a secondary computing device. The primary computing device can receive a trajectory and can generate control data to control the vehicle based on a computed state. Further, the primary computing device can send the internal data to the secondary computing device configured to control the vehicle in the event of a failure of the primary computing device. The secondary computing device can receive the internal data as first internal data and determine a capability associated with the primary computing device. Using the first internal data, the secondary computing device can determine second internal data and, based on the capability (e.g., in event of a failure of the primary computing device), can control the vehicle to follow a trajectory using the second internal data. Transferring state between an active to a standby computing device can ensure algorithmic synchronization and safe operation.
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公开(公告)号：US11136021B1
公开(公告)日：2021-10-05
申请号：US15787474
申请日：2017-10-18
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：US20210197798A1
公开(公告)日：2021-07-01
申请号：US16732087
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Marin Kobilarov
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.
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