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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：US12246751B1
公开(公告)日：2025-03-11
申请号：US17240365
申请日：2021-04-26
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto
Abstract: Techniques for determining environmental data of an environment associated with a vehicle are discussed herein. The vehicle can use the data to determine a vehicle configuration data, a trajectory for the vehicle to traverse, a route to a destination, or orientation for ingress/egress. The vehicle can determine control data based on the vehicle configuration data, the trajectory, or the route. The vehicle configuration data may be associated with a setting of a suspension component, a speed, or other component. The trajectory may be biased based on a source of the wind. The route may be selected from a first candidate route and a second candidate route using a first wind score associated with the first candidate route and a second score associated with the second candidate route. The vehicle can use a sensor, such as a wind sensor, to capture or otherwise determine the wind data.
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公开(公告)号：US12078995B1
公开(公告)日：2024-09-03
申请号：US17240443
申请日：2021-04-26
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto
CPC classification number: G05D1/0214 , B60W30/06 , B60W60/00253 , E05F15/40 , E05F15/71 , E05F15/72 , G01W1/02 , G05D1/0088 , B60W2554/4044 , B60W2555/20 , E05Y2400/44 , E05Y2400/45 , E05Y2400/54 , E05Y2900/531 , G08G1/123
Abstract: Techniques for determining environmental data of an environment associated with a vehicle are discussed herein. The vehicle can use the data to determine a vehicle configuration data, a trajectory for the vehicle to traverse, a route to a destination, or orientation for ingress/egress. The vehicle can determine control data based on the vehicle configuration data, the trajectory, or the route. The vehicle configuration data may be associated with a setting of a suspension component, a speed, or other component. The trajectory may be biased based on a source of the wind. The route may be selected from a first candidate route and a second candidate route using a first wind score associated with the first candidate route and a second score associated with the second candidate route. The vehicle can use a sensor, such as a wind sensor, to capture or otherwise determine the wind data.
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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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公开(公告)号：US12054150B2
公开(公告)日：2024-08-06
申请号：US16732122
申请日：2019-12-31
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto , Joseph Funke , Steven Cheng Qian
CPC classification number: B60W30/18 , B60W30/06 , B60W40/04 , B60W60/0015 , B60W60/0027 , B60W2554/404
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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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：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：US12174637B1
公开(公告)日：2024-12-24
申请号：US17957299
申请日：2022-09-30
Applicant: Zoox, Inc.
Inventor： Kazuhide Okamoto , Jacob Patrick Thalman , Olivier Amaury Toupet
IPC: G05D1/00
Abstract: Systems and techniques for determining acceleration controls to use in a trajectory for use in controlling a vehicle are described. An acceleration determination system may receive a trajectory from a trajectory determination system and determine, based on various vehicle, acceleration, and spatial trajectory parameters, the appropriate controls to configure in a longitudinal profile of the trajectory and the suitable spatial implementation points for implementing the controls within acceleration rate change constraints. An operational trajectory determination system may determine a trajectory for use in operating the vehicle using one or more candidate trajectories and/or associated data, including one or more acceleration controls determined by the acceleration determination system.
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