公开(公告)号：US20240199083A1

公开(公告)日：2024-06-20

申请号：US18084419

申请日：2022-12-19

Applicant: Zoox, Inc.

Inventor： Yan Chang ,  Aaron Huang ,  Peter Scott Schleede ,  Gary Linscott ,  Marin Kobilarov ,  Ethan Miller Pronovost ,  Ke Sun ,  Xiangyu Xie

IPC: B60W60/00 ,  G06N20/00

CPC classification number: B60W60/0027 ,  G06N20/00 ,  B60W30/12

Abstract: A machine-learned architecture for estimating the cost determined by a cost function for a prediction node of a tree search for exploring potential paths for controlling a vehicle may include two portions: a set up portion that includes models trained to process static data and a second portion that processes dynamic object data. The respective portions of the architecture may comprise various models that determine intermediate outputs that may be projected into a space associated with estimated cost. That estimated cost may identify an estimate of an output of the cost function for paths that are based on a particular prediction node of the tree search.

公开(公告)号：US20240092398A1

公开(公告)日：2024-03-21

申请号：US17900658

申请日：2022-08-31

Applicant: Zoox, Inc.

Inventor： Timothy Caldwell ,  Xianan Huang ,  Joseph Lorenzetti ,  Yunpeng Pan ,  Ke Sun ,  Linjun Zhang

IPC: B60W60/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18

CPC classification number: B60W60/0027 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18163 ,  B60W2552/10 ,  B60W2554/4045 ,  B60W2554/4046 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/106

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. For example, the techniques may include a computing device determining a decision tree having nodes to represent different object intents and/or nodes to represent vehicle actions at a future time. A tree search algorithm can search the decision tree to evaluate potential interactions between the vehicle and the one or more objects over a time period, and output a vehicle trajectory for the vehicle. The vehicle trajectory can be sent to a vehicle computing device for consideration during vehicle planning, which may include simulation.

公开(公告)号：US12187324B2

公开(公告)日：2025-01-07

申请号：US17900658

申请日：2022-08-31

Applicant: Zoox, Inc.

Inventor： Timothy Caldwell ,  Xianan Huang ,  Joseph Lorenzetti ,  Yunpeng Pan ,  Ke Sun ,  Linjun Zhang

IPC: B60W60/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18

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. For example, the techniques may include a computing device determining a decision tree having nodes to represent different object intents and/or nodes to represent vehicle actions at a future time. A tree search algorithm can search the decision tree to evaluate potential interactions between the vehicle and the one or more objects over a time period, and output a vehicle trajectory for the vehicle. The vehicle trajectory can be sent to a vehicle computing device for consideration during vehicle planning, which may include simulation.

公开(公告)号：US20250002041A1

公开(公告)日：2025-01-02

申请号：US18217187

申请日：2023-06-30

Applicant: Zoox, Inc.

Inventor： Joseph Lorenzetti ,  Timothy Caldwell ,  Ke Sun ,  Xianan Huang

IPC: B60W60/00

Abstract: A hierarchical tree search may determine different costs associated with a same candidate action for different levels of the hierarchy, each of which may be associated with different cost function(s) and respective objective(s), such as safety, progress, comfort, and the like. At each level, the hierarchical tree search may determine an upper and lower bound cost for the candidate action that may be based on the cost function(s) for that level. The hierarchical tree search may mask out for subsequent level(s) any candidate actions at a level of the tree that exceed the lowest upper or lower bound cost of any candidate action at that level by more than a slack amount.