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公开(公告)号：US20250115277A1
公开(公告)日：2025-04-10
申请号：US18983755
申请日：2024-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Yunpeng Pan
Abstract: This disclosure describes techniques for autonomous vehicles to determine driving paths and associated trajectories through unstructured or off-route driving environments. When an object is detected within a driving environment, a vehicle may determine a cost-based side association for the object. Various costs may be used in different examples, including costs based on a cost plot and/or motion primitives that may vary for terminal and non-terminal desired destinations (or ending vehicle states). Using tree searches to determine estimated candidate costs, the autonomous vehicle may compare right-side and left-side driving path costs around the object to determine a side association for the object. Based on the side association, the autonomous vehicle may determine an updated planning corridor and/or a trajectory to control the vehicle from a current state to a desired ending vehicle state.
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公开(公告)号：US11999380B1
公开(公告)日：2024-06-04
申请号：US17554693
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan
IPC: B60W60/00
CPC classification number: B60W60/0011 , B60W2520/06 , B60W2520/10 , B60W2520/12
Abstract: Techniques are discussed for generating and optimizing trajectories for controlling autonomous vehicles in performing on-route and off-route actions within a driving environment. A planning component of an autonomous vehicle can receive or generate time-discretized (or temporal) trajectories for the autonomous vehicle to traverse an environment. Trajectories can be optimized, for example, based on the lateral and longitudinal dynamics of the vehicle, using loss functions and/or costs. In some examples, the temporal optimization of a trajectory may include resampling a previous trajectory based on the differences in the time sequences of the temporal trajectories, to ensure temporal consistency of trajectories across planning cycles. Constraints also may be applied during temporal optimization in some examples, to control or restrict driving maneuvers that are not supported by the autonomous vehicle.
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公开(公告)号：US20230060500A1
公开(公告)日：2023-03-02
申请号：US17463008
申请日：2021-08-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Ravi Gogna , Caili Li , Steven Cheng Qian , Jacob Patrick Thalman , Ruikun Yu
Abstract: Techniques for requesting remote assistance from a vehicle are discussed. The techniques include receiving, from a remote computing device, coordinates of a footprint in which the vehicle is capable of stopping. The techniques further include receiving, from the remote computing device, a target orientation associated with the footprint. The techniques may determine a path to the footprint based to achieve target orientation associated with the footprint.
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公开(公告)号：US12065168B2
公开(公告)日：2024-08-20
申请号：US17462963
申请日：2021-08-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Ravi Gogna , Caili Li , Steven Cheng Qian , Jacob Patrick Thalman , Ruikun Yu
IPC: B60W60/00 , B60W30/095 , B60W40/12 , B60W50/14 , G05D1/00
CPC classification number: B60W60/0018 , B60W30/0956 , B60W40/12 , B60W50/14 , G05D1/0044 , B60W2050/146 , B60W2554/4041 , B60W2556/45
Abstract: Techniques for providing remote assistance to a vehicle are discussed. The techniques include receiving, from a vehicle, an indication of an event and displaying, on a display and to a user, a portion of an environment including the vehicle. The techniques further determine a valid region in the portion of the environment associated with a location at which the vehicle is capable of navigating. The techniques also display, on the display a footprint of the vehicle, where the footprint is associated with a position and orientation. The techniques further include transmitting the position and orientation of the footprint to the vehicle, which causes the vehicle to traverse in the environment to the position and orientation.
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公开(公告)号：US20230192127A1
公开(公告)日：2023-06-22
申请号：US17555004
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Liam Gallagher
CPC classification number: B60W60/0011 , B60W50/00 , B60W2520/10 , B60W2520/12 , B60W2520/06 , B60W2510/20 , B60W2050/0026 , B60W2050/006
Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.
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Patent Agency Ranking
公开(公告)号：US20240109585A1
公开(公告)日：2024-04-04
申请号：US17957756
申请日：2022-09-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Liam Gallagher , Marin Kobilarov , Vincent Andreas Laurense , Mark Jonathon McClelland , Sriram Narayanan , Kazuhide Okamoto , Jack Riley , Jeremy Schwartz , Jacob Patrick Thalman , Olivier Amaury Toupet , David Evan Zlotnik
IPC: B62D7/15
CPC classification number: B62D7/159
Abstract: Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.
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公开(公告)号：US11780464B2
公开(公告)日：2023-10-10
申请号：US17555004
申请日：2021-12-17
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Liam Gallagher
CPC classification number: B60W60/0011 , B60W50/00 , B60W2050/006 , B60W2050/0026 , B60W2510/20 , B60W2520/06 , B60W2520/10 , B60W2520/12
Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.
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公开(公告)号：US11623686B1
公开(公告)日：2023-04-11
申请号：US16709263
申请日：2019-12-10
Applicant: Zoox, Inc.
Inventor： Jacob Patrick Thalman , Genie Kim , Joseph Funke , Zachary Stuart Churukian
Abstract: Techniques for diagnosing and disambiguating a bias in one or more axels of a bidirectional four-wheel drive vehicle. In some examples, the diagnostics system may diagnose and disambiguate the bias in the two axles by collecting data related to the movement of the vehicle while the vehicle traverses a zero curvature path in a forward direction. The diagnostics system may then determine a bias in an axle acting as the rear axle based on the collected data. The bias in the axle acting as the front axle may then be determined based on the collected data and the bias in the rear axle.
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公开(公告)号：US12252200B2
公开(公告)日：2025-03-18
申请号：US17957756
申请日：2022-09-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Liam Gallagher , Marin Kobilarov , Vincent Andreas Laurense , Mark Jonathon McClelland , Sriram Narayanan , Kazuhide Okamoto , Jack Riley , Jeremy Schwartz , Jacob Patrick Thalman , Olivier Amaury Toupet , David Evan Zlotnik
Abstract: Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.
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公开(公告)号：US12208819B1
公开(公告)日：2025-01-28
申请号：US17589528
申请日：2022-01-31
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Kazuhide Okamoto , Jacob Patrick Thalman , Sriram Narayanan , Yunpeng Pan
IPC: B60W60/00 , B60W30/09 , B60W30/095
Abstract: This disclosure describes techniques for autonomous vehicles to determine driving paths and associated trajectories through unstructured or off-route driving environments. When an object is detected within a driving environment, a vehicle may determine a cost-based side association for the object. Various costs may be used in different examples, including costs based on a cost plot and/or motion primitives that may vary for terminal and non-terminal desired destinations (or ending vehicle states). Using tree searches to determine estimated candidate costs, the autonomous vehicle may compare right-side and left-side driving path costs around the object to determine a side association for the object. Based on the side association, the autonomous vehicle may determine an updated planning corridor and/or a trajectory to control the vehicle from a current state to a desired ending vehicle state.
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