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1.发明公开公开(公告)号：US20240174239A1
公开(公告)日：2024-05-30
申请号：US18072056
申请日：2022-11-30
Applicant: Zoox, Inc.
Inventor： Sriram Narayanan , Liam Gallagher , Marin Kobilarov
CPC classification number: B60W50/0097 , B60W60/001 , B60W2520/20
Abstract: Techniques are discussed for generating and optimizing trajectories for autonomous vehicles using route-relative numerical integration relative to a reference path. A planner component of an autonomous vehicle, for example, can receive or generate a reference path corresponding to a route through an environment. The current vehicle state, sideslip, and vehicle dynamics can be represented in a system of equations, such that the planner component can substantially simultaneously solve for subsequent trajectory states in a single convergence operation. In various examples, the subsequent trajectory states can be used to evaluate and determine candidate trajectories to control the autonomous vehicle to traverse the environment.
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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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Patent Agency Ranking
公开(公告)号：US20240400096A1
公开(公告)日：2024-12-05
申请号：US18204347
申请日：2023-05-31
Applicant: Zoox, Inc.
Inventor： Liam Gallagher , Matthew Van Heukelom
IPC: B60W60/00 , B60W30/09 , B60W30/095
Abstract: Techniques for accurately predicting and avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle computing device can implement a model to generate action references usable in a tree search to control the vehicle. For example, the model may represent one or more trajectory generators that modify a baseline trajectory in different ways to output a set of actions trajectories that are usable to define a tree structure. The set of action trajectories can be used by the vehicle computing device for predicting vehicle actions by the vehicle computing device to control the vehicle.
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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：US12060060B1
公开(公告)日：2024-08-13
申请号：US17463464
申请日：2021-08-31
Applicant: Zoox, Inc.
Inventor： Adrian Michael Costantino , Rasmus Fonseca , Liam Gallagher , Marin Kobilarov , Mark Jonathon McClelland , Yunpeng Pan
IPC: B60W30/095 , G06F16/28
CPC classification number: B60W30/0956 , G06F16/285 , B60W2554/4041 , B60W2554/4042 , B60W2554/4043 , B60W2554/4044 , B60W2556/10
Abstract: The techniques discussed herein may comprise an autonomous vehicle guidance system that generates a group of candidate trajectories based at least in part on sensor data. This group of candidate trajectories is clustered into two or more clusters and one or more representative trajectories may be determined for each cluster. The representative trajectory may be one of the trajectories in the cluster or a separately determined trajectory that represents the trajectories in a cluster, such as a mean or median trajectory. The representative trajectory may be used to predict how a dynamic object would react to the representative trajectory. This prediction may be used to determine potentially different costs associated with the different trajectories of the cluster with which the representative trajectory is associated. These costs may include costs to induce following behavior by the autonomous vehicle and/or cost(s) associated with conditionally available roadway portions.
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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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