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Patent Agency Ranking
公开(公告)号：US10671076B1
公开(公告)日：2020-06-02
申请号：US15833715
申请日：2017-12-06
Applicant: Zoox, Inc.
Inventor： Marin Kobilarov , Timothy Caldwell , Vasumathi Raman , Christopher Paxton
Abstract: Techniques for generating trajectories for autonomous vehicles and for predicting trajectories for third-party objects using temporal logic and tree search are described herein. Perception data about an environment can be captured to determine static objects and dynamic objects. For a particular dynamic object, which can represent a third-party vehicle, predictive trajectories can be generated to represent possible trajectories based on available options and rules of the road. Operations can include determining probabilities that a third-party vehicle will execute a predictive trajectory and updating the probabilities over time as motion data is captured. Predictive trajectories can be provided to the autonomous vehicle and commands for the autonomous vehicle can be based on the predictive trajectories. Further, determining a trajectory can include utilizing a Monte Carlo Tree Search (MCTS) to search for possible trajectories, while using Linear Temporal Logic (LTL) formulas to validate or reject the possible trajectories.
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公开(公告)号：US11360477B2
公开(公告)日：2022-06-14
申请号：US16908389
申请日：2020-06-22
Applicant: Zoox, Inc.
Inventor： Marin Kobilarov , Timothy Caldwell , Vasumathi Raman , Christopher Paxton , Joona Markus Petteri Kiiski , Jacob Lee Askeland , Robert Edward Somers
Abstract: Techniques for determining a trajectory for an autonomous vehicle are described herein. In general, determining a route can include utilizing a search algorithm such as Monte Carlo Tree Search (MCTS) to search for possible trajectories, while using temporal logic formulas, such as Linear Temporal Logic (LTL), to validate or reject the possible trajectories. Trajectories can be selected based on various costs and constraints optimized for performance. Determining a trajectory can include determining a current state of the autonomous vehicle, which can include determining static and dynamic symbols in an environment. A context of an environment can be populated with the symbols, features, predicates, and LTL formula. Rabin automata can be based on the LTL formula, and the automata can be used to evaluate various candidate trajectories. Nodes of the MCTS can be generated and actions can be explored based on machine learning implemented as, for example, a deep neural network.
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公开(公告)号：US10133275B1
公开(公告)日：2018-11-20
申请号：US15632147
申请日：2017-06-23
Applicant: Zoox, Inc.
Inventor： Marin Kobilarov , Timothy Caldwell , Vasumathi Raman , Christopher Paxton , Joona Markus Petteri Kiiski , Jacob Lee Askeland , Robert Edward Somers
Abstract: Techniques for determining a trajectory for an autonomous vehicle are described herein. In general, determining a route can include utilizing a search algorithm such as Monte Carlo Tree Search (MCTS) to search for possible trajectories, while using temporal logic formulas, such as Linear Temporal Logic (LTL), to validate or reject the possible trajectories. Trajectories can be selected based on various costs and constraints optimized for performance. Determining a trajectory can include determining a current state of the autonomous vehicle, which can include determining static and dynamic symbols in an environment. A context of an environment can be populated with the symbols, features, predicates, and LTL formula. Rabin automata can be based on the LTL formula, and the automata can be used to evaluate various candidate trajectories. Nodes of the MCTS can be generated and actions can be explored based on machine learning implemented as, for example, a deep neural network.
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公开(公告)号：US10691127B2
公开(公告)日：2020-06-23
申请号：US16193801
申请日：2018-11-16
Applicant: Zoox, Inc.
Inventor： Marin Kobilarov , Timothy Caldwell , Vasumathi Raman , Christopher Paxton , Joona Markus Petteri Kiiski , Jacob Lee Askeland , Robert Edward Somers
Abstract: Techniques for determining a trajectory for an autonomous vehicle are described herein. In general, determining a route can include utilizing a search algorithm such as Monte Carlo Tree Search (MCTS) to search for possible trajectories, while using temporal logic formulas, such as Linear Temporal Logic (LTL), to validate or reject the possible trajectories. Trajectories can be selected based on various costs and constraints optimized for performance. Determining a trajectory can include determining a current state of the autonomous vehicle, which can include determining static and dynamic symbols in an environment. A context of an environment can be populated with the symbols, features, predicates, and LTL formula. Rabin automata can be based on the LTL formula, and the automata can be used to evaluate various candidate trajectories. Nodes of the MCTS can be generated and actions can be explored based on machine learning implemented as, for example, a deep neural network.
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公开(公告)号：US20190101919A1
公开(公告)日：2019-04-04
申请号：US16193801
申请日：2018-11-16
Applicant: Zoox, Inc.
Inventor： Marin Kobilarov , Timothy Caldwell , Vasumathi Raman , Christopher Paxton , Joona Markus Petteri Kiiski , Jacob Lee Askeland , Robert Edward Somers
Abstract: Techniques for determining a trajectory for an autonomous vehicle are described herein. In general, determining a route can include utilizing a search algorithm such as Monte Carlo Tree Search (MCTS) to search for possible trajectories, while using temporal logic formulas, such as Linear Temporal Logic (LTL), to validate or reject the possible trajectories. Trajectories can be selected based on various costs and constraints optimized for performance. Determining a trajectory can include determining a current state of the autonomous vehicle, which can include determining static and dynamic symbols in an environment. A context of an environment can be populated with the symbols, features, predicates, and LTL formula. Rabin automata can be based on the LTL formula, and the automata can be used to evaluate various candidate trajectories. Nodes of the MCTS can be generated and actions can be explored based on machine learning implemented as, for example, a deep neural network.
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