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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
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.
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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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公开(公告)号：US12162500B1
公开(公告)日：2024-12-10
申请号：US17829114
申请日：2022-05-31
Applicant: Zoox, Inc.
Inventor： Joshua Dean Egbert , Joseph Funke , Xianan Huang , Dhanushka Nirmevan Kularatne , David Evan Zlotnik
Abstract: Techniques for accurately predicting vehicle state errors for avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle safety system can implement a model determine a representation of the vehicle usable in a scenario. The model may dynamically determine a size and/or a heading of the vehicle representation based on differences between a candidate trajectory and a current trajectory of the vehicle. The safety system can identify a potential collision between the vehicle and the object based at least in part on an overlap of the vehicle representation and an object representation.
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公开(公告)号：US11958554B2
公开(公告)日：2024-04-16
申请号：US16949642
申请日：2020-11-09
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Gowtham Garimella , Marin Kobilarov , Chuang Wang
CPC classification number: B62D6/003 , B62D5/046 , B62D6/001 , G05D1/0088 , G05D1/0221
Abstract: Model-based control of dynamical systems typically requires accurate domain-specific knowledge and specifications system components. Generally, steering actuator dynamics can be difficult to model due to, for example, an integrated power steering control module, proprietary black box controls, etc. Further, it is difficult to capture the complex interplay of non-linear interactions, such as power steering, tire forces, etc. with sufficient accuracy. To overcome this limitation, a recurring neural network can be employed to model the steering dynamics of an autonomous vehicle. The resulting model can be used to generate feedforward steering commands for embedded control. Such a neural network model can be automatically generated with less domain-specific knowledge, can predict steering dynamics more accurately, and perform comparably to a high-fidelity first principle model when used for controlling the steering system of a self-driving vehicle.
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Patent Agency Ranking
公开(公告)号：US20230060435A1
公开(公告)日：2023-03-02
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 , G05D1/00 , B60W50/14 , B60W30/095 , B60W40/12
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：US11414127B2
公开(公告)日：2022-08-16
申请号：US16917462
申请日：2020-06-30
Applicant: Zoox, Inc.
Inventor： Joseph Funke , David Evan Zlotnik
Abstract: Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.
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公开(公告)号：US11099563B2
公开(公告)日：2021-08-24
申请号：US16226542
申请日：2018-12-19
Applicant: Zoox, Inc.
Inventor： Shayan Darayan , Joseph Funke , Marc Wimmershoff
IPC: G05D1/00 , G05D1/02 , B60W30/095
Abstract: A vehicle can include a primary computing device and a secondary computing device. The primary computing device can receive a trajectory and can generate control data to control the vehicle based on a computed state. Further, the primary computing device can send the internal data to the secondary computing device configured to control the vehicle in the event of a failure of the primary computing device. The secondary computing device can receive the internal data as first internal data and determine a capability associated with the primary computing device. Using the first internal data, the secondary computing device can determine second internal data and, based on the capability (e.g., in event of a failure of the primary computing device), can control the vehicle to follow a trajectory using the second internal data. Transferring state between an active to a standby computing device can ensure algorithmic synchronization and safe operation.
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公开(公告)号：US20210197819A1
公开(公告)日：2021-07-01
申请号：US16732122
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto , Joseph Funke , Steven Cheng Qian
Abstract: Techniques for determining a location for a vehicle to join a route structure are discussed herein. A vehicle computing system may operate the vehicle off the route structure according to an inertial-based reference frame. The vehicle computing system may determine a lateral distance of the vehicle to a route of the route structure and an angular difference between a heading of the vehicle and a direction of travel associated with the route. The vehicle computing system may determine a location to rejoin the route based on the lateral distance and the angular difference. In some examples, the vehicle computing system may determine the location based on a sigmoid function. The vehicle computing system may determine a vehicle trajectory to the location and may control the vehicle to the route based on the vehicle trajectory and the inertial-based reference frame.
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公开(公告)号：US12291191B1
公开(公告)日：2025-05-06
申请号：US18087689
申请日：2022-12-22
Applicant: Zoox, Inc.
Inventor： Joseph Funke , Steven Cheng Qian , Zheyuan Xie
Abstract: Techniques for determining parking spaces and/or parking trajectories for a vehicle based on multistage filtering are discussed herein. In some examples, a vehicle may navigate to a destination within an environment. The vehicle may receive a set of parking locations and perform filtering operations to determine a subset of the parking locations. For example, the vehicle may use a list of parking characteristics (e.g., conditions) to filter the set of parking spaces. Based on determining the subset of parking spaces, the vehicle may generate a set of candidate trajectories to the subset of parking spaces. The vehicle may determine a subset of the candidate trajectories based on filtering the set of candidate trajectories according to various constraints. Further, the vehicle may determine a cost for the subset of candidate trajectories. Based on the costs, the vehicle may determine a candidate trajectory for the vehicle to follow.
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