公开(公告)号：US20240400099A1

公开(公告)日：2024-12-05

申请号：US18802152

申请日：2024-08-13

Applicant: Zoox, Inc.

Inventor： Johannes Edren ,  Johannes Andreas Huennekens

IPC: B60W60/00 ,  B60G17/016 ,  B60G17/08

Abstract: A bidirectional vehicle may be capable of traveling in either of two directions and may change its direction of travel at any point for various reasons. In response to a change in the direction of travel, systems of a bidirectional vehicle may adjust one or more suspension components using various techniques to configure the vehicle with a higher ride frequency at the trailing axle than at the leading axle to enhance the ride quality and handling capabilities of the vehicle.

公开(公告)号：US20210402984A1

公开(公告)日：2021-12-30

申请号：US17468499

申请日：2021-09-07

Applicant: Zoox, Inc.

Inventor： Joseph Funke ,  Johannes Edren ,  Ali Javidan ,  Jacob Lee Askeland ,  Vasumathi Raman

IPC: B60W30/04 ,  B62D17/00 ,  B60T8/24 ,  B62D7/06 ,  B60W30/18 ,  B60W10/184 ,  B60W10/20

Abstract: An over actuated system capable of controlling wheel parameters, such as speed (e.g., by torque and braking), steering angles, caster angles, camber angles, and toe angles, of wheels in an associated vehicle. The system may determine the associated vehicle is in a rollover state and adjust wheel parameters to prevent vehicle rollover. Additionally, the system may determine a driving state and dynamically adjust wheel parameters to optimize driving, including, for example, cornering and parking. Such a system may also dynamically detect wheel misalignment and provide alignment and/or corrective driving solutions. Further, by utilizing degenerate solutions for driving, the system may also estimate tire-surface parameterization data for various road surfaces and make such estimates available for other vehicles via a network.

公开(公告)号：US20210162831A1

公开(公告)日：2021-06-03

申请号：US17092677

申请日：2020-11-09

Applicant: Zoox, Inc.

Inventor： Johannes Edren ,  Ahditya Melkote ,  Phillip Newport Kuys ,  Andrew James Webb ,  Paul Choin

IPC: B60G17/0165 ,  B60G17/052 ,  B60G15/12

Abstract: A suspension system for controlling movement of a vehicle wheel may include a spring and damper assembly coupling the wheel to the vehicle chassis for movement of the wheel relative to the vehicle chassis. The spring and damper assembly may include a spring coupled to a damper member configured to extend and retract the wheel relative to the vehicle chassis. The suspension system may further include a damper actuator located remotely from the spring and damper assembly and configured to modify an amount of damping and/or wheel extension. The suspension system may also include a spring actuator integrated with the damper actuator and configured to control an amount of deflection of the spring and/or to alter a spring rate. The damper actuator may be provided at a location in the vehicle separated from the spring and damper assembly.

公开(公告)号：US12258004B2

公开(公告)日：2025-03-25

申请号：US17468499

申请日：2021-09-07

Applicant: Zoox, Inc.

Inventor： Joseph Funke ,  Johannes Edren ,  Ali Javidan ,  Jacob Lee Askeland ,  Vasumathi Raman

IPC: B60W30/04 ,  B60T8/24 ,  B60W10/184 ,  B60W10/20 ,  B60W30/18 ,  B62D7/06 ,  B62D17/00

Abstract: An over actuated system capable of controlling wheel parameters, such as speed (e.g., by torque and braking), steering angles, caster angles, camber angles, and toe angles, of wheels in an associated vehicle. The system may determine the associated vehicle is in a rollover state and adjust wheel parameters to prevent vehicle rollover. Additionally, the system may determine a driving state and dynamically adjust wheel parameters to optimize driving, including, for example, cornering and parking. Such a system may also dynamically detect wheel misalignment and provide alignment and/or corrective driving solutions. Further, by utilizing degenerate solutions for driving, the system may also estimate tire-surface parameterization data for various road surfaces and make such estimates available for other vehicles via a network.

公开(公告)号：US11623494B1

公开(公告)日：2023-04-11

申请号：US16801537

申请日：2020-02-26

Applicant: Zoox, Inc.

Inventor： Taylor Andrew Arnicar ,  Derek Adams ,  Michael Carsten Bosse ,  Johannes Edren ,  Till Kroeger

IPC: B60G17/019 ,  G01C25/00 ,  G01C19/56 ,  G01P15/02 ,  G01S17/931 ,  G01P21/00

Abstract: Motion can be induced at a vehicle, e.g., by actuating components of an active suspension system, and first sensor data and second sensor data representing an environment of the vehicle can be captured at a first position and a second position, respectively, resulting from the induced motion. A second sensor can determine motion information associated with the first position and the second position. Calibration information about the sensor, the first sensor data, and the motion information can be used to determine an expectation of sensor data at the second position. A calibration error can be the difference between the second sensor data and the expected sensor data.

公开(公告)号：US11485187B1

公开(公告)日：2022-11-01

申请号：US17303458

申请日：2021-05-28

Applicant: Zoox, Inc.

Inventor： Johannes Edren ,  Johannes Andreas Huennekens

IPC: B60G17/015 ,  B60G17/027 ,  B60G17/02 ,  B60G17/0165

Abstract: A configurable bushing and/or bushing system that can enable adjustment of an effective modulus of elasticity of different regions radially disposed about a point or inner sleeve. The bushing and/or bushing system can enable adjustment of the kinematic pivot point and/or allow for dynamic configuration and control.

公开(公告)号：US11458796B2

公开(公告)日：2022-10-04

申请号：US16140002

申请日：2018-09-24

Applicant: Zoox, Inc.

Inventor： Johannes Edren ,  Ahditya Melkote

IPC: B60G17/052 ,  B60G17/015 ,  B60W10/22 ,  B60G13/10 ,  B60G17/04 ,  B60G11/26

Abstract: A suspension system may include a pneumatic spring at each wheel of a vehicle. The suspension system may be configured to determine and achieve a pressure set point in each of the pneumatic springs and a target ride height at each wheel of the vehicle. The pressure set point may be determined based on a load at each of the wheels and the center of gravity of the vehicle, such that upon reaching the pressure set point at each in each of the pneumatic springs, a target load and target ride height may be achieved at each of the wheels of the vehicle. The system may also be used to level the ride height of the vehicle and/or achieve a desired orientation.

公开(公告)号：US20190152482A1

公开(公告)日：2019-05-23

申请号：US16259163

申请日：2019-01-28

Applicant: Zoox, Inc.

Inventor： Johannes Edren ,  Moritz Boecker ,  Ryan O'Leary Flatland

IPC: B60W30/18 ,  B60W30/02 ,  B60L53/00 ,  B60L7/10

Abstract: Brake force distribution via a combination of mechanical braking and regenerative braking techniques is described. In an example, a brake system of a vehicle can detect a braking action and can cause a first negative force to be distributed across two or more wheel assemblies associated with the vehicle. A control system of the vehicle can send a command to at least a power system of the vehicle to cause the power system to affect a second negative force on a first wheel assembly and a positive force on a second wheel assembly to cause an uneven distribution of brake force between the first wheel assembly and the second wheel assembly. As a result, a combined net braking force is applied to the front wheels—the wheels with the most grip—and a reduced net braking force to is applied to the rear wheels to prevent rear-wheel lock-up.

公开(公告)号：US12030359B1

公开(公告)日：2024-07-09

申请号：US17671295

申请日：2022-02-14

Applicant: Zoox, Inc.

Inventor： Alexandre Nunes ,  Johannes Edren

IPC: B60G17/018 ,  B60G17/0165

CPC classification number: B60G17/0182 ,  B60G17/0165 ,  B60G2400/821 ,  B60G2600/182 ,  B60G2600/1874

Abstract: An active suspension control system for a vehicle includes a mathematical model based on a modal expansion of the vehicle. Model parameters of the vehicle can be extracted from the modal expansion using sensor data generated on the vehicle, e.g., on demand and/or in real time. The model parameters and the modal expansion can be used to determine a vehicle state, predict future vehicle states, and control aspects of an active suspension system based on the predicted future vehicle states. The model parameters may also be used to update the mathematical model, e.g., to account for component wear over time, and/or to detect anomalies or defects in the active suspension system.

公开(公告)号：US11922740B2

公开(公告)日：2024-03-05

申请号：US16542153

申请日：2019-08-15

Applicant: Zoox, Inc.

Inventor： Johannes Edren ,  Moritz Boecker ,  Joseph Funke

IPC: G07C5/08 ,  G07C5/00

CPC classification number: G07C5/0816 ,  G07C5/008 ,  G07C5/0808

Abstract: Systems, methods, and apparatuses described herein are directed to vehicle self-diagnostics. For example, a vehicle can include sensors monitoring vehicle components, for perceiving objects and obstacles in an environment, and for navigating the vehicle to a destination. Data from these and other sensors can be leveraged to determine a behavior associated with the vehicle. Based at least in part on determining the behavior, a vehicle can determine a fault and query one or more information sources associated with the vehicle to diagnose the fault. Based on diagnosing the fault, the vehicle can determine instructions for redressing the fault. The vehicle can diagnose the fault in near-real time, that is, while driving or otherwise in the field.