公开(公告)号：US11734473B2

公开(公告)日：2023-08-22

申请号：US16708019

申请日：2019-12-09

Applicant: Zoox, Inc.

Inventor： Sai Anurag Modalavalasa ,  Gerrit Bagschik ,  Andrew Scott Crego ,  Antoine Ghislain Deux ,  Rodin Lyasoff ,  James William Vaisey Philbin ,  Ashutosh Gajanan Rege ,  Andreas Christian Reschka ,  Marc Wimmershoff

IPC: G06F30/20 ,  G05D1/02 ,  G05D1/00 ,  G07C5/08 ,  G06V20/58 ,  G06F18/23 ,  G06V20/56

CPC classification number: G06F30/20 ,  G05D1/0027 ,  G05D1/0088 ,  G05D1/0214 ,  G06F18/23 ,  G06V20/56 ,  G06V20/58 ,  G07C5/0816 ,  G05D2201/0213

Abstract: Techniques for determining an error model based on vehicle data and ground truth data are discussed herein. To determine whether a complex system (which may be not capable of being inspected) is able to operate safely, various operating regimes (scenarios) can be identified based on operating data. To provide safe operation of such a system, an error model can be determined that can provide a probability associated with perception data and a vehicle can determine a trajectory based on the probability of an error associated with the perception data.

公开(公告)号：US11648939B2

公开(公告)日：2023-05-16

申请号：US16683005

申请日：2019-11-13

Applicant: Zoox, Inc.

Inventor： Andrew Scott Crego ,  Siavosh Rezvan Behbahani ,  Ali Ghasemzadehkhoshgroudi ,  Sai Anurag Modalavalasa ,  Andreas Christian Reschka ,  Lingqiao Qin

IPC: B60W30/095 ,  B60W30/09 ,  G08G1/16 ,  G06V20/58

CPC classification number: B60W30/0956 ,  B60W30/09 ,  G06V20/58 ,  G08G1/166 ,  B60W2554/00 ,  B60W2554/80 ,  B60W2555/20

Abstract: Techniques and methods for performing collision monitoring using system data. For instance, a vehicle may generate sensor data using one or more sensors. The vehicle may then analyze the sensor data using systems in order to determine parameters associated with the vehicle and parameters associated with another object. Additionally, the vehicle may determine uncertainties associated with the parameters and then process the parameters using the uncertainties. Based at least in part on the processing, the vehicle may determine a distribution of estimated locations associated with the vehicle and a distribution of estimated locations associated with the object. Using the distributions of estimated locations, the vehicle may determine the probability of collision between the vehicle and the object.

公开(公告)号：US20210347372A1

公开(公告)日：2021-11-11

申请号：US16866715

申请日：2020-05-05

Applicant: Zoox, Inc.

Inventor： Gerrit Bagschik ,  Andrew Scott Crego ,  Aditya Pramod Khadilkar ,  Muhammad Farooq Rama ,  Siavosh Rezvan Behbahani

IPC: B60W50/06 ,  G06K9/00 ,  G06F30/20 ,  G06F17/18 ,  B60W60/00

Abstract: Techniques associated with generating simulation scenarios for simulating a vehicle controller are discussed herein. Log data may include sensor data captured by sensors of a vehicle. The log data may represent objects in an environment. Objects may be associated with a region of a discretized representation of the environment relative to the vehicle. Specific states of objects (relative position in a region type, velocity, classification, size, etc.) may represent an instance of an occupation. Log data can be aggregated based on similar region type and/or object state. A statistical model over object states can be determined for each region type and can later be sampled to determine simulation parameters. A simulation scenario can be generated based on the simulation parameters, and a vehicle controller can be evaluated based on the simulation scenario.

公开(公告)号：US20210097148A1

公开(公告)日：2021-04-01

申请号：US16586838

申请日：2019-09-27

Applicant: Zoox, Inc.

Inventor： Gerrit Bagschik ,  Andrew Scott Crego ,  Antoine Ghislain Deux ,  Rodin Lyasoff ,  James William Vaisey Philbin ,  Marc Wimmershoff ,  Andreas Christian Reschka ,  Ashutosh Gajanan Rege

IPC: G06F17/50 ,  G05D1/00

Abstract: Techniques for determining a safety metric associated with a vehicle controller are discussed herein. To determine whether a complex system (which may be uninspectable) is able to operate safely, various operating regimes (scenarios) can be identified based on operating data and associated with a scenario parameter to be adjusted. To validate safe operation of such a system, a scenario may be identified for inspection. Error metrics of a subsystem of the system can be quantified. The error metrics, in addition to stochastic errors of other systems/subsystems can be introduced to the scenario. The scenario parameter may also be perturbed. Any multitude of such perturbations can be instantiated in a simulation to test, for example, a vehicle controller. A safety metric associated with the vehicle controller can be determined based on the simulation, as well as causes for any failures.

公开(公告)号：US12055941B1

公开(公告)日：2024-08-06

申请号：US17100793

申请日：2020-11-20

Applicant: Zoox, Inc.

Inventor： Andrew Scott Crego ,  Sai Anurag Modalavalasa ,  Subhasis Das ,  Siavosh Rezvan Behbahani ,  Aditya Pramod Khadilkar

IPC: G05D1/00 ,  B60W50/02 ,  B60W60/00

CPC classification number: G05D1/0214 ,  B60W60/00274 ,  B60W50/0205 ,  B60W2050/0215 ,  B60W2554/4041 ,  B60W2554/4044

Abstract: An error estimation component may generate contours or a heat map of a likelihood that an object detection or prediction generated by a perception component of an autonomous vehicle is inaccurate. The contours or heat map may be used to lock or unlock actions available to a planning component and the planning component may use the contours or heat for determining a trajectory for controlling the autonomous vehicle. The planning component may additionally or alternatively alter operation of a sensor or determine a trajectory to unlock a target action that is currently locked due to a size/extent of uncertainty indicated by a contour/heat map.

公开(公告)号：US11858514B2

公开(公告)日：2024-01-02

申请号：US17218051

申请日：2021-03-30

Applicant: Zoox, Inc.

Inventor： Gerrit Bagschik ,  Andrew Scott Crego ,  Gowtham Garimella ,  Michael Haggblade ,  Andraz Kavalar ,  Kai Zhenyu Wang

IPC: B60W30/18 ,  G06N3/088 ,  B60W50/14 ,  G06N3/045 ,  B60W30/095 ,  B60W60/00 ,  G06N3/08 ,  G06V20/58

CPC classification number: B60W30/18009 ,  B60W30/0956 ,  B60W50/14 ,  B60W60/0011 ,  G06N3/045 ,  G06N3/08 ,  G06N3/088 ,  G06V20/58 ,  B60W2556/10

Abstract: Techniques for top-down scene discrimination are discussed. A system receives scene data associated with an environment proximate a vehicle. The scene data is input to a convolutional neural network (CNN) discriminator trained using a generator and a classification of the output of the CNN discriminator. The CNN discriminator generates an indication of whether the scene data is a generated scene or a captured scene. If the scene data is data generated scene, the system generates a caution notification indicating that a current environmental situation is different from any previous situations. Additionally, the caution notification is communicated to at least one of a vehicle system or a remote vehicle monitoring system.

公开(公告)号：US11810365B1

公开(公告)日：2023-11-07

申请号：US17122998

申请日：2020-12-15

Applicant: Zoox, Inc.

Inventor： Andrew Scott Crego ,  Gowtham Garimella ,  Mahsa Ghafarianzadeh ,  Rasmus Fonseca ,  Muhammad Farooq Rama ,  Kai Zhenyu Wang

IPC: G06V20/58 ,  B60W60/00 ,  G06F18/213 ,  G06F18/214 ,  G06F18/2415

CPC classification number: G06V20/58 ,  B60W60/001 ,  G06F18/213 ,  G06F18/214 ,  G06F18/2415 ,  B60W2554/4049

Abstract: Techniques for modeling the probability distribution of errors in perception systems are discussed herein. For example, techniques may include modeling error distribution for attributes such as position, size, pose, and velocity of objects detected in an environment, and training a mixture model to output specific error probability distributions based on input features such as object classification, distance to the object, and occlusion. The output of the trained model may be used to control the operation of a vehicle in an environment, generate simulations, perform collision probability analyses, and to mine log data to detect collision risks.

公开(公告)号：US11628850B2

公开(公告)日：2023-04-18

申请号：US16866715

申请日：2020-05-05

Applicant: Zoox, Inc.

Inventor： Gerrit Bagschik ,  Andrew Scott Crego ,  Aditya Pramod Khadilkar ,  Muhammad Farooq Rama ,  Siavosh Rezvan Behbahani

IPC: B60W50/06 ,  G06F17/18 ,  B60W60/00 ,  G06F30/20 ,  G06V20/56

Abstract: Techniques associated with generating simulation scenarios for simulating a vehicle controller are discussed herein. Log data may include sensor data captured by sensors of a vehicle. The log data may represent objects in an environment. Objects may be associated with a region of a discretized representation of the environment relative to the vehicle. Specific states of objects (relative position in a region type, velocity, classification, size, etc.) may represent an instance of an occupation. Log data can be aggregated based on similar region type and/or object state. A statistical model over object states can be determined for each region type and can later be sampled to determine simulation parameters. A simulation scenario can be generated based on the simulation parameters, and a vehicle controller can be evaluated based on the simulation scenario.

公开(公告)号：US20210094540A1

公开(公告)日：2021-04-01

申请号：US16586853

申请日：2019-09-27

Applicant: Zoox, Inc.

Inventor： Gerrit Bagschik ,  Andrew Scott Crego ,  Antoine Ghislain Deux ,  Rodin Lyasoff ,  James William Vaisey Philbin ,  Marc Wimmershoff ,  Andreas Christian Reschka ,  Ashutosh Gajanan Rege ,  Sai Anurag Modalavalasa

IPC: B60W30/095 ,  G06K9/00 ,  G06T7/70

Abstract: Techniques for determining an error model associated with a system/subsystem of vehicle controller are discussed herein. To determine whether a complex system (which may be uninspectable) is able to operate safely, errors can be introduced into operating regimes (scenarios) to validate the safe operation of such a system. By comparing captured and/or generated vehicle data with ground truth data, an error of the system can be statistically quantified and modeled. The statistical model can be used to introduce errors to the scenario to perturb the scenario to test, for example, a vehicle controller. Based on a simulation of the vehicle controlled in the perturbed scenario, a safety metric associated with the vehicle controller can be determined, as well as causes for any failures.

公开(公告)号：US11932242B1

公开(公告)日：2024-03-19

申请号：US17210101

申请日：2021-03-23

Applicant: Zoox, Inc.

Inventor： Andrew Scott Crego ,  Josh Alexander Jimenez ,  James William Vaisey Philbin ,  Chuang Wang

IPC: B60W30/09 ,  B60W60/00 ,  G06V20/58 ,  G08G1/00

CPC classification number: B60W30/09 ,  B60W60/001 ,  G06V20/58 ,  G08G1/20 ,  B60W2420/403 ,  B60W2420/52

Abstract: Techniques for receiving and processing sensor data captured by a fleet of vehicle are discussed herein. In some examples, a fleet dashcam system can receive sensor data captured by electronic devices on a fleet of vehicles and can use that data to detect collision and near-collision events. The data of the collision or near-collision event can be used to determine a simulation scenario and a response of an autonomous vehicle control to the simulation scenario and/or it can be used to create a collision heat map to aid in operation of an autonomous vehicle.