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：US20230182782A1

公开(公告)日：2023-06-15

申请号：US17550996

申请日：2021-12-14

Applicant: Zoox, Inc.

Inventor： Linjun Zhang ,  Marin Kobilarov

IPC: B60W60/00

CPC classification number: B60W60/0027 ,  B60W2554/404 ,  B60W2554/801 ,  B60W2554/802 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2555/60

Abstract: This disclosure is directed to techniques for identifying relevant objects within an environment. For instance, a vehicle may use sensor data to determine a candidate trajectory associated with the vehicle and a predicted trajectory associated with an object. The vehicle may then use the candidate trajectory and the predicted trajectory to determine an interaction between the vehicle and the object. Based on the interaction, the vehicle may determine a time difference between when the vehicle is predicted to arrive at a location and when the object is predicted to arrive at the location. The vehicle may then determine a relevance score associated with the object using the time difference. Additionally, the vehicle may determine whether to input object data associated with the object into a planner component based on the relevance score. The planner component determines one or more actions for the vehicle to perform.

公开(公告)号：US12275431B1

公开(公告)日：2025-04-15

申请号：US17854269

申请日：2022-06-30

Applicant: Zoox, Inc.

Inventor： Marin Kobilarov ,  Linjun Zhang

IPC: B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  B60W30/18 ,  B60W40/04 ,  B60W40/105 ,  B60W50/00

Abstract: Techniques for determining relevant objects in an environment around a vehicle are discussed herein. Sensor data can be captured and input to a model to determine predicted object trajectories and associated probabilities. For a candidate trajectory for the vehicle to follow, regions of overlap between the vehicle trajectory and the predicted object trajectories can be determined. An interaction graph can be generated representing interactions between the candidate trajectory and the predicted object trajectories. The interaction graph can be sampled based on the probabilities and/or other characteristics. Samples from the interaction graph can be used to determine relevant objects in a driving scenario for a vehicle traversing an environment. Based on the sample, the vehicle may generate a relevancy score associated with the sample. The vehicle may determine that a number of the most relevant sample scenarios may be sent to a prediction component and control of the vehicle.

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：US12054178B2

公开(公告)日：2024-08-06

申请号：US17550996

申请日：2021-12-14

Applicant: Zoox, Inc.

Inventor： Linjun Zhang ,  Marin Kobilarov

IPC: B60W60/00

CPC classification number: B60W60/0027 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2554/404 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/801 ,  B60W2554/802 ,  B60W2555/60

Abstract: This disclosure is directed to techniques for identifying relevant objects within an environment. For instance, a vehicle may use sensor data to determine a candidate trajectory associated with the vehicle and a predicted trajectory associated with an object. The vehicle may then use the candidate trajectory and the predicted trajectory to determine an interaction between the vehicle and the object. Based on the interaction, the vehicle may determine a time difference between when the vehicle is predicted to arrive at a location and when the object is predicted to arrive at the location. The vehicle may then determine a relevance score associated with the object using the time difference. Additionally, the vehicle may determine whether to input object data associated with the object into a planner component based on the relevance score. The planner component determines one or more actions for the vehicle to perform.