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公开(公告)号：US11914368B2
公开(公告)日：2024-02-27
申请号：US16539893
申请日：2019-08-13
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Sy Kelly Olson , Collin MacGregor , Andreas Christian Reschka
CPC classification number: G05D1/0088 , B60W20/50 , B60W50/0097 , B60W50/029 , G05D1/0214 , B60W2050/021 , B60W2050/0292 , G05D2201/0213
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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52.发明公开公开(公告)号：US20230182772A1
公开(公告)日：2023-06-15
申请号：US17550969
申请日：2021-12-14
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Genie Kim , Zheyuan Xie
CPC classification number: B60W60/0011 , B60W60/0015 , B60W60/00253 , B60W60/00274 , B60W40/04 , B60W30/146 , G06Q50/30 , B60Q9/008 , G06N20/00 , B60W2540/041 , B60W2554/4041 , B60W2554/4042 , B60W2554/80
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：US20230166770A1
公开(公告)日：2023-06-01
申请号：US18075051
申请日：2022-12-05
Applicant: Zoox, Inc.
Inventor： Joseph Funke , David Evan Zlotnik
CPC classification number: B60W60/0025 , B60W50/045 , B62D7/142 , B60W2510/20
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：US11518412B2
公开(公告)日：2022-12-06
申请号：US16917431
申请日：2020-06-30
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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Patent Agency Ranking
公开(公告)号：US11458965B2
公开(公告)日：2022-10-04
申请号：US16539873
申请日：2019-08-13
Applicant: Zoox, Inc.
Inventor： Sy Kelly Olson , Collin MacGregor , Jefferson Bradfield Packer , David Martins Belo , Joseph Funke
IPC: B60W30/095 , B60W30/09 , G05D1/02 , B60W40/109 , B60W40/107 , G05D1/00
Abstract: Systems and methods are described for 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：US20210403082A1
公开(公告)日：2021-12-30
申请号：US16917498
申请日：2020-06-30
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：US10688841B1
公开(公告)日：2020-06-23
申请号：US15664977
申请日：2017-07-31
Applicant: Zoox, Inc.
Inventor： Robert Chen , Matthew Austin Terrel , Nivedita Chandrasekaran , Johannes Edren , Joseph Funke
IPC: B60N2/00 , B60G17/0165 , B60G17/019
Abstract: A vehicle having a control system to utilize a movable suspension to increase sensor coverage. The control system can detect an object of interest that is partially, or completely, outside the field of view of one or more sensors on the vehicle. The system can then use the movable suspension to raise one portion of the vehicle and/or lower another portion of the vehicle to bring the object of interest at least partially into the field of view of the sensor, increasing the effective field of view of the sensor. When an object of interest is determined to be significant (e.g., a traffic or street sign), the system can attempt to bring the object of interest into view of the sensor by tilting the vehicle. The system can use different tilt rates and/or tilt angles depending on whether the vehicle is occupied or not.
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公开(公告)号：US10395444B1
公开(公告)日：2019-08-27
申请号：US15673820
申请日：2017-08-10
Applicant: Zoox, Inc.
Inventor： Johannes Edren , Moritz Boecker , Joseph Funke
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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公开(公告)号：US20180251126A1
公开(公告)日：2018-09-06
申请号：US15632208
申请日：2017-06-23
Applicant: Zoox, Inc.
Inventor： Gary Linscott , Robert Edward Somers , Joona Markus Petteri Kiiski , Marin Kobilarov , Timothy Caldwell , Jacob Lee Askeland , Ashutosh Gajanan Rege , Joseph Funke
CPC classification number: G05D1/0088 , B60W30/09 , G01C21/3407 , G05D1/0055 , G05D1/0212 , G05D1/0223 , G05D1/0272 , G05D1/0274 , G05D2201/0213 , G06N3/04 , G06N3/08
Abstract: Techniques for generating and executing trajectories to guide autonomous vehicles are described. In an example, a first computer system associated with an autonomous vehicle can generate, at a first operational frequency, a route to guide the autonomous vehicle from a current location to a target location. The first computer system can further determine, at a second operational frequency, an instruction for guiding the autonomous vehicle along the route and can generate, at a third operational frequency, a trajectory based at least partly on the instruction and real-time processed sensor data. A second computer system that is associated with the autonomous vehicle and is in communication with the first computer system can execute, at a fourth operational frequency, the trajectory to cause the autonomous vehicle to travel along the route. The separation of the first computer system and the second computer system can provide enhanced safety, redundancy, and optimization.
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