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    Locating entities in a mapped environment
    1.
    发明授权
    Locating entities in a mapped environment 有权

    公开(公告)号：US10832439B1

    公开(公告)日：2020-11-10

    申请号：US16389539

    申请日：2019-04-19

    Applicant: Zoox, Inc.

    Inventor： Lichao Ma ,  Joona Markus Petteri Kiiski

    IPC: G06K9/00 ,  G06T7/70 ,  G06T7/11 ,  G05D1/02

    Abstract: This application describes locating objects in an environment, such as a mapped region. In an example, a location of an entity on a drivable surface can include querying an axis-aligned bounding box (AABB) tree to determine a segment of the drivable surface including the location. In some examples, the location can be further determined within the segment of the drivable surface. For instance, the segment of the drivable surface may be partitioned into a plurality of polygons, and the polygons can be searched to determine a lane segment in the road segment associated with the entity.

    Object relevance determination
    3.
    发明授权
    Object relevance determination 有权

    公开(公告)号：US11772643B1

    公开(公告)日：2023-10-03

    申请号：US16417260

    申请日：2019-05-20

    Applicant: Zoox, Inc.

    Inventor： Jefferson Bradfield Packer ,  Lichao Ma

    IPC: B60W30/09 ,  G06V20/58 ,  B60W30/095 ,  G06V20/56

    CPC classification number: B60W30/0956 ,  B60W30/09 ,  G06V20/58 ,  G06V20/588

    Abstract: A vehicle computing system may implement techniques to determine relevance of objects detected in an environment to a vehicle operating in the environment (e.g., whether an object could potentially impact the vehicle's ability to safely travel). The techniques may include determining an initial location and trajectory associated with a detected object and determining whether the detected object may intersect a path polygon (e.g., planned path with a safety buffer) of the vehicle. A path intersection may include the detected object intersecting the path polygon or sharing a road segment with the vehicle at a substantially similar height as the vehicle (e.g., on a similar plane). Based on a determination that the detected object does not intersect the planned path of the vehicle, the vehicle computing system may determine that the detected object is irrelevant to the vehicle and may disregard the detected object in vehicle control planning considerations.

    ACTIVE PREDICTION BASED ON OBJECT TRAJECTORIES
    5.
    发明申请
    ACTIVE PREDICTION BASED ON OBJECT TRAJECTORIES 有权

    公开(公告)号：US20220402485A1

    公开(公告)日：2022-12-22

    申请号：US17351642

    申请日：2021-06-18

    Applicant: Zoox, Inc.

    Inventor： Marin Kobilarov ,  Lichao Ma ,  Chonhyon Park ,  Matthew Van Heukelom

    IPC: B60W30/095 ,  B60W60/00 ,  B60W30/18

    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 output data indicating costs for potential intersection points between the object and the vehicle in the future. The model may employ a control policy and a time-step integrator to determine whether an object may intersect with the vehicle, in which case the techniques may include predicting vehicle actions by the vehicle computing device to control the vehicle.

    VEHICLE CONTROL USING DIRECTED GRAPHS
    8.
    发明申请
    VEHICLE CONTROL USING DIRECTED GRAPHS 有权

    公开(公告)号：US20230008285A1

    公开(公告)日：2023-01-12

    申请号：US17867326

    申请日：2022-07-18

    Applicant: Zoox, Inc.

    Inventor： Lichao Ma ,  Joona Markus Petteri Kiiski

    IPC: G05D1/02 ,  G06F16/901 ,  G05D1/00 ,  G06F30/15

    Abstract: Controlling autonomous vehicles requires accurate information about how entities behave in an environment with respect to one another. In an example, a data structure is used to associate entities in an environment of the vehicle with the vehicle and/or with each other. For example, associations between entities can be based on locations of the entities relative to each other and/or relative to segments of a drivable surface. Information about associations between the vehicle and/or entities in the environment may be used to identify entities that may influence travel of the vehicle and/or other entities and, in some implementations, vehicle controls can be generated based on these relevant entities.

    LANE CHANGE GAP FINDER
    9.
    发明申请
    LANE CHANGE GAP FINDER 有权

    公开(公告)号：US20220185289A1

    公开(公告)日：2022-06-16

    申请号：US17121086

    申请日：2020-12-14

    Applicant: Zoox, Inc.

    Inventor： Akash Arora ,  Lichao Ma

    IPC: B60W30/18 ,  G08G1/16 ,  B60W50/00 ,  B60W30/095 ,  G01C21/34 ,  B60W30/16 ,  B60W60/00

    Abstract: Techniques for determining gaps for performing lane change operations are described. A first region in an environment of a vehicle can be determined. The first region can be associated with a first time period through which the vehicle is unable to travel and can correspond to a constraint space. A second region of the environment can be determined. The second region can be associated with a second time period and can correspond to a configuration space. A gap in the environment can be determined based on a portion of the configuration space that is exclusive of the constraint space. A trajectory can be determined based on the gap. The trajectory can be associated with performing a lane change operation and can be associated with a cost. The vehicle can be controlled to perform the lane change operation based at least in part on the trajectory and the cost.

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