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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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Patent Agency Ranking
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：US12012128B2
公开(公告)日：2024-06-18
申请号：US17485041
申请日：2021-09-24
Applicant: Zoox, Inc.
Inventor： Jeremy Schwartz , Prateek Chandresh Shah
CPC classification number: B60W60/0027 , B60W60/0011 , G05B13/0265 , G06N20/00 , B60W2540/20 , B60W2554/4041
Abstract: Techniques for aggregating costs associated with one or more heat maps to control a vehicle in an environment are discussed herein. A vehicle computing device can implement a model to determine heat maps and respective cost information for different features of the environment based on sensor data. The vehicle computing device can output a planned trajectory for the vehicle based on combining the heat maps. The techniques can also include determining a rationalization or root cause detailing reasons why the planned trajectory was determined.
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公开(公告)号：US20230097121A1
公开(公告)日：2023-03-30
申请号：US17485041
申请日：2021-09-24
Applicant: Zoox, Inc.
Inventor： Jeremy Schwartz , Prateek Chandresh Shah
Abstract: Techniques for aggregating costs associated with one or more heat maps to control a vehicle in an environment are discussed herein. A vehicle computing device can implement a model to determine heat maps and respective cost information for different features of the environment based on sensor data. The vehicle computing device can output a planned trajectory for the vehicle based on combining the heat maps. The techniques can also include determining a rationalization or root cause detailing reasons why the planned trajectory was determined.
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公开(公告)号：US12240484B1
公开(公告)日：2025-03-04
申请号：US17184559
申请日：2021-02-24
Applicant: Zoox, Inc.
Inventor： Prateek Chandresh Shah , Rick Zhang , Wentao Zhong , Jeremy Schwartz
Abstract: Tracking perception and/or planning component decisions may comprise generating a data structure in association with an output determined by a component. This data structure, along with one or more data structures generated in association with other outputs generated by the same or different components of the vehicle, may be used to determine a trace that identifies component(s) that determined outputs that affected a particular component's generation of an output. This trace and/or factors identified by the data structure may be used to detect a problem with a component; identify a component or output therefrom that may be causing an error; determine a portion of a component that has been activated and a frequency associated therewith; and/or visualize operation of the vehicle associated with activation of particular components, among additional or alternate uses discussed herein.
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公开(公告)号：US20250108839A1
公开(公告)日：2025-04-03
申请号：US18478813
申请日：2023-09-29
Applicant: Zoox, Inc.
Inventor： Timothy Caldwell , Xianan Huang , Syed Bilal Mehdi , Jeremy Schwartz
Abstract: Techniques for determining a vehicle trajectory that causes a vehicle to navigate in an environment relative to one or more objects are described herein. In some cases, the techniques described herein relate to selectively expanding a tree structure (e.g., a decision tree structure) to efficiently search for simulation data that can be used to evaluate vehicle control trajectories. The tree structure may include state nodes representing observed and/or predicted environment states, and action nodes representing candidate actions the vehicle may take. By selectively and incrementally expanding the tree using estimated state transition probabilities to focus on higher likelihood scenarios, more optimal trajectories can be determined without exhaustively evaluating every possible outcome.
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