公开(公告)号：US20230142674A1

公开(公告)日：2023-05-11

申请号：US17384430

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: G01S7/41 ,  G01S13/931

CPC classification number: G01S7/41 ,  G01S13/931

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：US11606659B2

公开(公告)日：2023-03-14

申请号：US17216491

申请日：2021-03-29

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Turhan Karadeniz ,  Nam Gook Cho ,  Subasingha Shaminda Subasingha

IPC: H04R29/00 ,  H04R1/32 ,  H04R3/00

Abstract: Techniques for adaptive cross-correlation are discussed. A first signal is received from a first audio sensor associated with a vehicle and a second signal is received from a second audio sensor associated with the vehicle. Techniques may include determining, based at least in part on the first signal, a first transformed signal in a frequency domain. Additionally, the techniques include determining, based at least in part on the second signal, a second transformed signal in the frequency domain. A parameter can be determined based at least in part on a characteristic associated with at least one of the vehicle, an environment proximate the vehicle, or one or more of the first or second signal. Cross-correlation data can be determined based at least in part on one or more of the first transformed signal, the second transformed signal, or the parameter.

公开(公告)号：US11561292B1

公开(公告)日：2023-01-24

申请号：US16550156

申请日：2019-08-23

Applicant: Zoox, Inc.

Inventor： Subasingha Shaminda Subasingha ,  Turhan Karadeniz ,  Robert Nicholas Moor ,  Mehran Ferdowsi ,  Denis Nikitin

IPC: G01S7/486 ,  G01S17/10 ,  G01S17/88 ,  G01S7/48

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- or under-exposure. In some examples, parameters associated with power of a time-of-flight sensor can be altered based on a number of unreliable pixels in measured data and/or based on intensity values of the measured data. For example, unreliable pixels can be determined using phase frame information captured at a receiver of the sensor.

公开(公告)号：US11502765B2

公开(公告)日：2022-11-15

申请号：US17248755

申请日：2021-02-05

Applicant: Zoox, Inc.

Inventor： Mehran Ferdowsi ,  Turhan Karadeniz ,  Minh Nguyen ,  Subasingha Shaminda Subasingha ,  Harrison Thomas Waschura

IPC: H04J3/06 ,  H04L43/106 ,  H04L43/12 ,  H04J3/02

Abstract: Techniques for facilitating a robust clock synchronization across a computer network that presumes network jitter exists are discussed herein. A first device and a second device transceive a plurality of sets of time-synchronization messages to synchronize a synchronization clock of the second device to a first clock of the first device. The second device calculates a smoothing of time delay data of a plurality of sets. The time delay data is associated with a transmission duration of time-synchronization messages of the sets of the plurality. The second device sets a synchronization clock based on a time at the first device and the smoothed time delay data.

公开(公告)号：US20210302988A1

公开(公告)日：2021-09-30

申请号：US16836632

申请日：2020-03-31

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC: G05D1/02 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  G01S7/4861 ,  G08G1/16

Abstract: Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.

公开(公告)号：US20210302987A1

公开(公告)日：2021-09-30

申请号：US16836605

申请日：2020-03-31

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC: G05D1/02 ,  G01S17/931 ,  G01S17/86 ,  G01S17/89 ,  G08G1/16

Abstract: Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.

公开(公告)号：US20210122291A1

公开(公告)日：2021-04-29

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

IPC: B60Q5/00 ,  H04R1/40 ,  G08G1/16 ,  H04R3/12

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.

公开(公告)号：US20210096263A1

公开(公告)日：2021-04-01

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

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.

公开(公告)号：US10829040B2

公开(公告)日：2020-11-10

申请号：US16436486

申请日：2019-06-10

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

IPC: B60Q5/00 ,  H04R1/40 ,  G08G1/16 ,  H04R3/12 ,  H04R1/32

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.