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公开(公告)号：US12024170B2
公开(公告)日：2024-07-02
申请号：US17121086
申请日：2020-12-14
Applicant: Zoox, Inc.
Inventor： Akash Arora , Lichao Ma
CPC classification number: B60W30/18163 , B60W30/0956 , B60W30/162 , B60W50/0097 , B60W60/0011 , B60W60/0027 , G01C21/3453 , G08G1/167 , B60W30/09 , B60W2554/80 , B60W2555/60
Abstract: Techniques for determining gaps for performing lane change operations are described. A first region in an environment of a vehicle can be determined. The first region can be associated with a first time period through which the vehicle is unable to travel and can correspond to a constraint space. A second region of the environment can be determined. The second region can be associated with a second time period and can correspond to a configuration space. A gap in the environment can be determined based on a portion of the configuration space that is exclusive of the constraint space. A trajectory can be determined based on the gap. The trajectory can be associated with performing a lane change operation and can be associated with a cost. The vehicle can be controlled to perform the lane change operation based at least in part on the trajectory and the cost.
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公开(公告)号：US11801864B1
公开(公告)日：2023-10-31
申请号：US17202795
申请日：2021-03-16
Applicant: Zoox, Inc.
Inventor： Akash Arora , Max Gier , Moritz Harmel
IPC: B60W60/00
CPC classification number: B60W60/0011 , B60W60/0013 , B60W60/0015 , B60W60/0027 , B60W2554/80 , B60W2720/10
Abstract: A vehicle computing system may implement techniques to determine an action for a vehicle to perform based on a cost associated therewith. The cost may be based on a detected object (e.g., another vehicle, bicyclist, pedestrian, etc.) operating in the environment and/or a possible object associated with an occluded region (e.g., a blocked area in which an object may be located). The vehicle computing system may determine two or more actions the vehicle could take with respect to the detected object and/or the occluded region and may generate a simulation associated with each action. The vehicle computing system may run the simulation associated with each action to determine a safety cost, a progress cost, a comfort cost, an operational rules cost, and/or an occlusion cost associated with each action. The vehicle computing system may select the action for the vehicle to perform based on an optimal cost being associated therewith.
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公开(公告)号：US20220185289A1
公开(公告)日：2022-06-16
申请号：US17121086
申请日：2020-12-14
Applicant: Zoox, Inc.
Inventor： Akash Arora , Lichao Ma
Abstract: Techniques for determining gaps for performing lane change operations are described. A first region in an environment of a vehicle can be determined. The first region can be associated with a first time period through which the vehicle is unable to travel and can correspond to a constraint space. A second region of the environment can be determined. The second region can be associated with a second time period and can correspond to a configuration space. A gap in the environment can be determined based on a portion of the configuration space that is exclusive of the constraint space. A trajectory can be determined based on the gap. The trajectory can be associated with performing a lane change operation and can be associated with a cost. The vehicle can be controlled to perform the lane change operation based at least in part on the trajectory and the cost.
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公开(公告)号：US20250042429A1
公开(公告)日：2025-02-06
申请号：US18228426
申请日：2023-07-31
Applicant: Zoox, Inc.
Inventor： Akash Arora , Andrew Baker , Timothy Caldwell , Eunsuk Chong , Rasmus Fonseca , Ravi Gogna , Jeffrey Loris Irion , Dhanushka Nirmevan Kularatne , Yangwei Liu , Joseph Lorenzetti , Mark Jonathon McClelland , Jack Riley , Rick Zhang
IPC: B60W60/00
Abstract: Techniques for generating a driving surface cost landscape for determining costs for vehicle positions in an environment are described herein. A planning component within a vehicle may determine a non-preferred surface associated with a type of non-preferred area of an environment along a route of a vehicle, determine a preferred surface associated with a preferred area of the environment, determine an adjusted non-preferred surface by removing an overlapping area of the non-preferred surface that overlaps the preferred surface and determine a cost associated with a vehicle position based at least on the preferred surface and the adjusted non-preferred surface. The planning component may then determine a control trajectory for the autonomous vehicle based at least in part on the cost associated with the vehicle position.
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