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公开(公告)号：US11841438B2
公开(公告)日：2023-12-12
申请号：US16588347
申请日：2019-09-30
Applicant: Zoox, Inc.
Inventor： Subasingha Shaminda Subasingha , Turhan Karadeniz , Denis Nikitin , Harrison Thomas Waschura
IPC: G01S17/93 , G01S17/08 , G01S7/48 , G01S17/931
CPC classification number: G01S17/931 , G01S7/4808 , G01S17/08
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. Sensor data generated by the time-of-flight sensor can return unreliable pixels, e.g., in the case of over-exposure or saturation. In some examples, multiple exposures captured at different exposure times can be used to determine an overall saturation value or metric representative of the sensor data. The saturation value may be used to control parameters of the sensor. For instance, the saturation value may be used to determine power control parameters for the sensor, e.g., to reduce over- and/or under-exposure.
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公开(公告)号：US11681029B2
公开(公告)日：2023-06-20
申请号：US17092162
申请日：2020-11-06
Applicant: Zoox, Inc.
IPC: G01S7/48 , G01S7/4865 , G01S7/487 , G01S7/4863
CPC classification number: G01S7/4866 , G01S7/4873 , G01S7/4863
Abstract: A time delay of arrival (TDOA) between a time that a light pulse was emitted to a time that a pulse reflected off an object was received at a light sensor may be determined for saturated signals by using an edge of the saturated signal, rather than a peak of the signal, for the TDOA calculation. The edge of the saturated signal may be accurately estimated by fitting a first polynomial curve to data points of the saturated signal, defining an intermediate magnitude threshold based on the polynomial curve, fitting a second polynomial curve to data points near an intersection of the first polynomial curve and the intermediate threshold, and identifying an intersection of the second polynomial curve and the intermediate threshold as the rising edge of the saturated signal.
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公开(公告)号：US11500075B2
公开(公告)日：2022-11-15
申请号：US16276327
申请日：2019-02-14
Applicant: Zoox, Inc.
IPC: G01S7/4863 , G01S7/487 , H04B10/50
Abstract: A LIDAR system that identifies, from a channel output, a false positive return and/or suppressing a corresponding false positive detection caused, in some cases, a strong reflection by a highly reflective surface that caused light to leak from a first channel to a second channel. The LIDAR system described herein may identify, as a false return, a return detected in the second channel that has an intensity that is much less than a return in the first channel and indicates a distance that is the same or very close to a distance indicated the return in the first channel. Based at least in part on identifying a return as a false return, the LIDAR system may suppress a false detection associated with the false return by modifying a detection threshold.
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公开(公告)号：US11450205B2
公开(公告)日：2022-09-20
申请号：US16732151
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Sarah Tariq , Ravi Gogna , Marc Wimmershoff , Subasingha Shaminda Subasingha
Abstract: Techniques for detecting and responding to an emergency vehicle are discussed. A vehicle computing system may determine that an emergency vehicle based on sensor data, such as audio and visual data. In some examples, the vehicle computing system may determine aggregate actions of objects (e.g., other vehicles yielding) proximate the vehicle based on the sensor data. In such examples, a determination that the emergency vehicle is operating may be based on the actions of the objects. The vehicle computing system may, in turn, identify a location to move out of a path of the emergency vehicle (e.g., yield) and may control the vehicle to the location. The vehicle computing system may determine that the emergency vehicle is no longer relevant to the vehicle and may control the vehicle along a route to a destination. Determining to yield and/or returning to a mission may be confirmed by a remote operator.
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公开(公告)号：US20220180538A1
公开(公告)日：2022-06-09
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 , G01S17/931 , B60W60/00
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.
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Patent Agency Ranking
公开(公告)号：US11299093B2
公开(公告)日：2022-04-12
申请号：US17092623
申请日：2020-11-09
Applicant: Zoox, Inc.
Inventor： Jacob Avi Harper , Jeremy Yi-Xiong Yang , Forrest Leighton Merrill , Michael Moshe Kohen , George Dalman Nelson, III , Subasingha Shaminda Subasingha , Josh Alexander Jimenez
Abstract: Techniques for using beam-formed acoustic notifications for pedestrian notification are described. Computing device(s) can receive sensor data associated with an object in an environment of a vehicle. The computing device(s) can determine first data for emitting a first beam of acoustic energy via speaker(s) of an acoustic array associated with the vehicle, and second data for emitting a second beam of acoustic energy via speakers of the acoustic array. The computing device(s) can cause the speaker(s) to emit the first beam in a direction of the object at a first time and the second beam in the direction of the object at a second time. Directions of propagation of the first beam and the second beam are offset so that the object can localize the source the acoustic notification, thereby localizing the vehicle in the environment.
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公开(公告)号：US20210239806A1
公开(公告)日：2021-08-05
申请号：US17092162
申请日：2020-11-06
Applicant: Zoox, Inc.
IPC: G01S7/4865 , G01S7/487
Abstract: A time delay of arrival (TDOA) between a time that a light pulse was emitted to a time that a pulse reflected off an object was received at a light sensor may be determined for saturated signals by using an edge of the saturated signal, rather than a peak of the signal, for the TDOA calculation. The edge of the saturated signal may be accurately estimated by fitting a first polynomial curve to data points of the saturated signal, defining an intermediate magnitude threshold based on the polynomial curve, fitting a second polynomial curve to data points near an intersection of the first polynomial curve and the intermediate threshold, and identifying an intersection of the second polynomial curve and the intermediate threshold as the rising edge of the saturated signal.
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公开(公告)号：US20210201676A1
公开(公告)日：2021-07-01
申请号：US16732151
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Sarah Tariq , Ravi Gogna , Marc Wimmershoff , Subasingha Shaminda Subasingha
Abstract: Techniques for detecting and responding to an emergency vehicle are discussed. A vehicle computing system may determine that an emergency vehicle based on sensor data, such as audio and visual data. In some examples, the vehicle computing system may determine aggregate actions of objects (e.g., other vehicles yielding) proximate the vehicle based on the sensor data. In such examples, a determination that the emergency vehicle is operating may be based on the actions of the objects. The vehicle computing system may, in turn, identify a location to move out of a path of the emergency vehicle (e.g., yield) and may control the vehicle to the location. The vehicle computing system may determine that the emergency vehicle is no longer relevant to the vehicle and may control the vehicle along a route to a destination. Determining to yield and/or returning to a mission may be confirmed by a remote operator.
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公开(公告)号：US11027648B2
公开(公告)日：2021-06-08
申请号：US16193945
申请日：2018-11-16
Applicant: Zoox, Inc.
Inventor： Jacob Avi Harper , Kevin Mark Karol , Michael Moshe Kohen , Forrest Leighton Merrill , Subasingha Shaminda Subasingha , Jeremy Yi-Xiong Yang
Abstract: A vehicle computing system may implement techniques to dynamically adjust a volume and/or frequency of a sound emitted from a vehicle to warn an object (e.g., dynamic object) of a potential conflict with the vehicle. The techniques may include determining a baseline noise level and/or frequencies proximate to the object. The baseline noise level and/or frequencies may be determined based on an identification of one or more noise generating objects in the environment. The vehicle computing system may determine the volume and/or a frequency of the sound based in part on the baseline noise level and/or frequencies, an urgency of the warning, a probability of conflict between the vehicle and the object, a speed of the object, etc.
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公开(公告)号：US10972638B1
公开(公告)日：2021-04-06
申请号：US16550102
申请日：2019-08-23
Applicant: Zoox, Inc.
Inventor： Harrison Thomas Waschura , Joseph Patrick Warga , Subasingha Shaminda Subasingha , Robert Nicholas Moor , Ryan McMichael
IPC: H04N13/271 , H04N5/217 , H04N13/128 , G06T7/73 , G01S7/48 , G01S17/931 , G01S7/487 , H04N13/00
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. Sensor data generated by the time-of-flight sensor can be impacted by glare. In some examples, corrected data is generated by quantifying glare. A glare region including pixels that are not associated with an object in a range of the time-of-flight sensor may provide glare intensity and glare depth values used to quantify the glare. The glare intensity and glare depth may be used to correct measured data.
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