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公开(公告)号：US20210373566A1
公开(公告)日：2021-12-02
申请号：US16887712
申请日：2020-05-29
申请人： Zoox, Inc.
IPC分类号： G05D1/02 , B60W40/072 , B60W40/109
摘要： A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the reference trajectory, determine a lateral offset bias associated with the segment based at least in part on, for example, one or more of a speed or acceleration of the vehicle, and determine a candidate trajectory for the autonomous vehicle based at least in part on the lateral offset bias. The candidate trajectory may then be used to control the autonomous vehicle.
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公开(公告)号：US11853068B1
公开(公告)日：2023-12-26
申请号：US16389858
申请日：2019-04-19
申请人： Zoox, Inc.
CPC分类号： G05D1/0214 , B60W30/10 , G05D1/0088 , B60W2050/0031 , G05D2201/0213
摘要： Techniques for determining a safety margin by which to limit trajectory(ies) generated by a vehicle control system such that the vehicle will not exceed the safety margin more than a target occurrence rate. The techniques may include determining a first spectrum associated with trajectory data generated by one or more vehicles, generating a model of a vehicle, and determining a spectrum of an error signal based at least in part on the model and the first spectrum. Determining the safety margin may be based at least in part on the spectrum of the error signal and a target occurrence rate. Operation characteristics of components of the vehicle (e.g., controller, steering actuator) may be tuned based at least in part on the model, first spectrum, and/or second spectrum. The techniques enable determining safety margins for untested vehicles and/or for different operating states of a vehicle.
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公开(公告)号：US11919526B1
公开(公告)日：2024-03-05
申请号：US17243407
申请日：2021-04-28
申请人： Zoox, Inc.
CPC分类号： B60W50/0205 , B60W50/0097 , B60W2510/083 , B60W2510/18 , B60W2510/20
摘要： Techniques are discussed herein for detecting and measuring faults within vehicle drive systems. In various implementations, actuator feedback monitors and/or vehicle performance monitors are used individually or in combination to determine faults within acceleration systems, braking systems, and/or steering systems of a vehicle. Different monitors may use different algorithms, models, and input data from the vehicle during operation, to compare a predicted drive system output to a corresponding measured output. Additionally, monitors may include associated sets of disable conditions used to distinguish drive system faults from other driving conditions. The outputs from actuator feedback monitors, vehicle performance monitors, and disable conditions may be analyzed to detect drive system faults and control the vehicle to address the faults and control the safe operation of the vehicle.
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公开(公告)号：US11592830B2
公开(公告)日：2023-02-28
申请号：US16887712
申请日：2020-05-29
申请人： Zoox, Inc.
IPC分类号： B60W40/072 , G05D1/02 , B60W40/109
摘要： A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the reference trajectory, determine a lateral offset bias associated with the segment based at least in part on, for example, one or more of a speed or acceleration of the vehicle, and determine a candidate trajectory for the autonomous vehicle based at least in part on the lateral offset bias. The candidate trajectory may then be used to control the autonomous vehicle.
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