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公开(公告)号：US20210096565A1
公开(公告)日：2021-04-01
申请号：US16587409
申请日：2019-09-30
Applicant: Zoox, Inc.
Inventor： Zheyuan Xie , Joseph Funke , Steven Cheng Qian
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.
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公开(公告)号：US20210048818A1
公开(公告)日：2021-02-18
申请号：US16539893
申请日：2019-08-13
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Sy Kelly Olson , Collin MacGregor , Andreas Christian Reschka
Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.
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公开(公告)号：US10821981B1
公开(公告)日：2020-11-03
申请号：US15787418
申请日：2017-10-18
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Johannes Edren , Ali Javidan
IPC: B60W30/18 , B62D7/06 , B62D17/00 , B60W40/064 , B60W40/101 , B60W40/068 , B60W40/06
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：US10423934B1
公开(公告)日：2019-09-24
申请号：US15673829
申请日：2017-08-10
Applicant: Zoox, Inc.
Inventor： Greg Zanghi , Joseph Funke , Timothy David Kentley-Klay
IPC: G05D1/00 , G05D1/02 , G06N3/08 , G07C5/00 , G07C5/08 , G01C21/34 , G06N20/00 , G06Q10/00 , G06Q10/06 , G06Q10/10
Abstract: Systems, methods, and apparatuses described herein are directed to automated vehicle diagnostics and maintenance. For example, vehicles 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 track a performance of the vehicle over time to determine a state of vehicle components, and/or changes to acceleration/deceleration and steering behavior of the vehicle over time. As issues for servicing are determined, the methods, apparatuses, and systems can include automated scheduling of vehicle maintenance. For example, based on a determination of the potential issues based on sensor data and/or user indications, vehicle maintenance can be scheduled to be performed in the field or at a service center. Technicians can be assigned to perform vehicle maintenance based on the servicing issue and/or on capabilities of the technician.
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公开(公告)号：US20250115277A1
公开(公告)日：2025-04-10
申请号：US18983755
申请日：2024-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Yunpeng Pan
Abstract: This disclosure describes techniques for autonomous vehicles to determine driving paths and associated trajectories through unstructured or off-route driving environments. When an object is detected within a driving environment, a vehicle may determine a cost-based side association for the object. Various costs may be used in different examples, including costs based on a cost plot and/or motion primitives that may vary for terminal and non-terminal desired destinations (or ending vehicle states). Using tree searches to determine estimated candidate costs, the autonomous vehicle may compare right-side and left-side driving path costs around the object to determine a side association for the object. Based on the side association, the autonomous vehicle may determine an updated planning corridor and/or a trajectory to control the vehicle from a current state to a desired ending vehicle state.
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Patent Agency Ranking
公开(公告)号：US12269508B1
公开(公告)日：2025-04-08
申请号：US18087709
申请日：2022-12-22
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Zheyuan Xie
Abstract: Techniques for determining parking spaces and/or parking trajectories for a vehicle based on multistage filtering are discussed herein. In some examples, a vehicle may navigate to a destination within an environment. The vehicle may receive a set of parking locations and perform filtering operations to determine a subset of the parking locations. For example, the vehicle may use a list of parking characteristics (e.g., conditions) to filter the set of parking spaces. Based on determining the subset of parking spaces, the vehicle may generate a set of candidate trajectories to the subset of parking spaces. The vehicle may determine a subset of the candidate trajectories based on filtering the set of candidate trajectories according to various constraints. Further, the vehicle may determine a cost for the subset of candidate trajectories. Based on the costs, the vehicle may determine a candidate trajectory for the vehicle to follow.
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公开(公告)号：US12208822B2
公开(公告)日：2025-01-28
申请号：US18075051
申请日：2022-12-05
Applicant: Zoox, Inc.
Inventor： Joseph Funke , David Evan Zlotnik
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. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.
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公开(公告)号：US20250002047A1
公开(公告)日：2025-01-02
申请号：US18345963
申请日：2023-06-30
Applicant: Zoox, Inc.
Inventor： Vincent Andreas Laurense , Glenn Xavier Liem , Joseph Funke , Varun Agrawal , Jiayin Xia
Abstract: Techniques for optimal trajectory generation for a vehicle are described herein. In some cases, the techniques described herein include determining a first primary trajectory by a first component (e.g., a planner component) of the vehicle, determining a triggering event associated with the first primary trajectory by a second component (e.g., a trajectory validation component) of the vehicle, controlling the vehicle based on an alternative trajectory (e.g., a trajectory configured to cause the vehicle to stop and/or slow down) in response to the triggering event, determining a second primary trajectory by the first component and based at least in part on a state of the vehicle along the alternative trajectory, and one or more of: (i) controlling the vehicle based on the alternative trajectory if the triggering event is still present, or (ii) controlling the vehicle based on the second primary trajectory if the triggering event is no longer present.
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公开(公告)号：US12164306B1
公开(公告)日：2024-12-10
申请号：US17531534
申请日：2021-11-19
Applicant: Zoox, Inc.
Inventor： Brian Michael Filarsky , Joseph Funke , Mark Jonathon McClelland , Amirhossein Tamjidi , Olivier Toupet
IPC: G05D1/00 , B60W30/095 , B60W40/06
Abstract: Techniques are described for determining to modify a coordinate system in response to the occurrence of a condition. As non-limiting examples, such conditions comprise distance traveled, speed of the vehicle (or system), an amount of computational resources available, a time since the last change, a number of objects present, the presence (or absence) of a particular object proximate the vehicle, a distance to a proximate object, based on a particular frequency, or the like. Such modifications may improve the operation and safety of a computing system used for path planning and trajectory generation by allowing lower precision numerical representations to be used in safety-critical situations while avoiding potential computational errors that would otherwise result from using such a representation.
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公开(公告)号：US12128878B1
公开(公告)日：2024-10-29
申请号：US17716974
申请日：2022-04-08
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Zheyuan Xie
CPC classification number: B60W30/06 , G01C21/3476 , G06Q30/0283 , G07C1/30 , G08G1/147 , B60W2552/05
Abstract: Techniques for controlling a vehicle to select parking spaces are discussed herein. The vehicle may receive a request to travel to a destination and obtain information about a first set and a second set of parking spaces within a threshold distance of the destination. The vehicle may determine a first likelihood of availability associated with the first set of parking spaces and a second likelihood of availability associated with the second set of parking spaces. The vehicle may determine a first cost associated with a first route to the first set of parking spaces and a second cost associated with a second route to the second set of parking spaces by the cost function. Upon determining that the first cost is equal to or less than the second cost, the vehicle may navigate based on the first route and park within one of the first set of parking spaces.
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