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公开(公告)号：US12246734B1
公开(公告)日：2025-03-11
申请号：US18115336
申请日：2023-02-28
Applicant: Zoox, Inc.
Inventor： Timothy Henry Jung , Janakan Chandrakumar , Collin MacGregor , Joshua Paul Munic , Matthew Ambrose Romlewski , Aaron Rosekind , Sandra Ruiz , Nehemia Girma Terefe , Nathaniel John Villaume , Darrin Sammons Willis , He Yi
Abstract: Techniques are discussed herein for detecting and managing faults occurring within various vehicle systems, to enable the vehicle to respond safely and appropriately to the faults. In examples, a constraint generator may receive sensor data associated with the operation of a vehicle in an environment. The constraint generator may perturb the sensor data to mimic particular sensor faults, and execute simulations to determine performance degradations of the vehicle systems associated with the particular sensor faults. Based on the performance degradations associated with sensor faults, the constraint generator may determine the appropriate constraints with limitations on the operation of the vehicle, and communicate the constraint parameters to the appropriate vehicle systems accordingly.
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公开(公告)号：US11891076B1
公开(公告)日：2024-02-06
申请号：US17489191
申请日：2021-09-29
Applicant: Zoox, Inc.
Inventor： Matthew Daniel Lopez , Collin MacGregor , Udayan Pushparaj Karmarkar , Austin Hendrix , Eric Yu-Chieh Shyu
IPC: B60W50/029 , B60W60/00 , B60W50/14 , B60W50/12 , B60W50/038
CPC classification number: B60W50/029 , B60W50/038 , B60W50/12 , B60W50/14 , B60W60/0051 , B60W2050/0292 , B60W2050/0295 , B60W2050/0297 , B60W2050/146
Abstract: Techniques for determining whether to limit an operation of a vehicle while operating in a manually assisted mode of operation are described herein. A vehicle computing system can monitor components of the vehicle and identify a fault associated with a component. The vehicle computing system can determine whether the fault is associated with a manual operation of the vehicle. Based on a determination that the fault is not associated with the manual operation of the vehicle (e.g., fault associated with an autonomous control component), the vehicle computing system can override the fault and enable continued operation of the vehicle in the manually assisted mode of operation. Based on a determination that the fault is associated with the manual operation of the vehicle, the vehicle computing system can cause the vehicle to cease operating.
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公开(公告)号：US11173829B1
公开(公告)日：2021-11-16
申请号：US16408411
申请日：2019-05-09
Applicant: Zoox, Inc.
Inventor： Moritz Boecker , Chang Gi Samuel Hong , Collin MacGregor
IPC: B60Q1/26 , F21S41/151 , B60Q1/00 , B60Q1/28 , B60Q1/34 , B60Q1/44 , F21S43/20 , B60Q1/30 , H05B45/20 , H05B47/10 , H05B47/155 , B60Q1/02
Abstract: A lighting system of a vehicle may include light units and controllers for operating the light units. Each light unit is multifunctional in that the light unit may operate in various modes, which may be invoked at different times under varying circumstances. A light unit on the first end of a vehicle may operate as a headlight if the first end is the front end of the vehicle. On the other hand, the light unit may operate as a tail light if the first end is the rear end of the vehicle. Furthermore, the light unit may operate as a turn signal in either direction or brake light while the first end is the rear end of the vehicle. The light unit includes a lens array positioned to receive light from various light sources. The lighting system may operate in a fashion that allows for lighting redundancy on each end of the vehicle in the event of a lighting controller failure.
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公开(公告)号：US20210048818A1
公开(公告)日：2021-02-18
申请号：US16539893
申请日：2019-08-13
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Sy Kelly Olson , Collin MacGregor , Andreas Christian Reschka
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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公开(公告)号：US20210026359A1
公开(公告)日：2021-01-28
申请号：US16518897
申请日：2019-07-22
Applicant: Zoox, Inc.
Inventor： Collin MacGregor , Sy Kelly Olson , Jefferson Bradfield Packer
Abstract: A method and apparatus for selecting among a plurality of trajectories comprises receiving at least a first and second trajectory, each having an associated level in a trajectory hierarchy, determining whether the first trajectory is viable, determining a present level limit for trajectory selection, and if the first trajectory is viable and its level does not exceed the present level limit, executing the first trajectory. If the first trajectory is not viable or the associated level of the first trajectory exceeds the present level limit, the second trajectory is executed if it is viable and its associated level does not exceed the present level limit. A state variable is set such that when a trajectory lower in a trajectory hierarchy is executed, a trajectory selector waits for a message from a monitor or an operator before returning to the use of higher level trajectories.
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Patent Agency Ranking
公开(公告)号：US11891078B1
公开(公告)日：2024-02-06
申请号：US17489083
申请日：2021-09-29
Applicant: Zoox, Inc.
Inventor： Matthew Daniel Lopez , Collin MacGregor , Darrin Sammons Willis , Udayan Pushparaj Karmarkar , Lilith Rogue Automata
CPC classification number: B60W50/12 , B60W30/02 , G07C5/0808
Abstract: Techniques for identifying a constraint to apply to an operation of a vehicle are described herein. A vehicle computing system receives diagnostics and constraints associated with components of the vehicle. The vehicle computing system identifies constraints to apply to vehicular operation based on the received diagnostics and constraints. The vehicle computing system may determine whether a received constraint is valid, based on associated diagnostics. Based on a determination that the constraint is valid, the vehicle computing system may include the constraint in vehicle control considerations. Based on a determination that the constraint is invalid, the vehicle computing system may withhold the constraint from vehicle control considerations.
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公开(公告)号：US11577741B1
公开(公告)日：2023-02-14
申请号：US16376750
申请日：2019-04-05
Applicant: Zoox, Inc.
Inventor： Andreas Christian Reschka , Collin MacGregor
IPC: B60W30/095 , B60W50/04 , B60W50/00
Abstract: A vehicle may include a primary system for generating data to control the vehicle and a secondary system that validates the data and/or other data to avoid collisions. For example, the primary system may localize the vehicle, detect an object around the vehicle, predict an object trajectory, and generate a trajectory for the vehicle. The secondary system may localize the vehicle, detect an object around the vehicle, predict an object trajectory, and determine a likelihood of a collision of the vehicle with the object. A simulation system may generate simulation scenarios that test aspects of the primary system and the secondary system. Simulation scenarios may include simulated vehicle control data that causes the primary system to generate a driving trajectory and simulated object data that causes the secondary system to determine a collision.
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公开(公告)号：US11378962B2
公开(公告)日：2022-07-05
申请号：US16518897
申请日：2019-07-22
Applicant: Zoox, Inc.
Inventor： Collin MacGregor , Sy Kelly Olson , Jefferson Bradfield Packer
Abstract: A method and apparatus for selecting among a plurality of trajectories comprises receiving at least a first and second trajectory, each having an associated level in a trajectory hierarchy, determining whether the first trajectory is viable, determining a present level limit for trajectory selection, and if the first trajectory is viable and its level does not exceed the present level limit, executing the first trajectory. If the first trajectory is not viable or the associated level of the first trajectory exceeds the present level limit, the second trajectory is executed if it is viable and its associated level does not exceed the present level limit. A state variable is set such that when a trajectory lower in a trajectory hierarchy is executed, a trajectory selector waits for a message from a monitor or an operator before returning to the use of higher level trajectories.
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公开(公告)号：US20210046926A1
公开(公告)日：2021-02-18
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 , G05D1/00 , B60W40/109 , B60W40/107
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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公开(公告)号：US12269509B1
公开(公告)日：2025-04-08
申请号：US17710602
申请日：2022-03-31
Applicant: Zoox, Inc.
Inventor： Matthew Nathaniel Dickerson , Oliver Fielding Douglas , Ravi Gogna , Collin MacGregor
IPC: B60W60/00
Abstract: Techniques for providing remote guidance to a vehicle operating in an environment, by an operator located in the environment, are described herein. The operator can include a safety observer configured to observe one or more vehicles operating in the environment and may identify a scenario that requires a modification to a vehicle operation (e.g., stop forward movement, change direction of travel, modify a maximum speed, etc.). The operator may access a graphical user interface (GUI) via an operator computing device, and may input a constraint to modify the vehicle operation. The vehicle computing system may receive a control signal including the constraint, and may modify a vehicle trajectory based on the constraint. The vehicle computing system may later determine that a condition associated with the constraint is satisfied, and may continue vehicular operation in absence of the constraint.
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