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公开(公告)号：US20220055616A1
公开(公告)日：2022-02-24
申请号：US17461647
申请日：2021-08-30
Applicant: Zoox, Inc.
IPC: B60W30/09 , B60R21/0134 , B60W30/095 , G05D1/00 , G05D1/02 , G08G1/16
Abstract: A vehicle may include a primary system and a secondary system to validate operation of the primary system and to control the vehicle to avoid collisions. For example, the secondary system may receive multiple trajectories from the primary system, such as a primary trajectory and a secondary, contingent, trajectory associated with a deceleration or other maneuver. The secondary system may determine if a trajectory is associated with a potential collision, if the trajectory is consistent with a current or previous pose, if the trajectory is compatible with a capability of the vehicle, etc. The secondary system may select the primary trajectory if valid, the secondary trajectory if the primary trajectory is invalid, or another trajectory generated by the secondary system if the primary trajectory and the secondary trajectory are invalid. If no valid trajectory is determined, the vehicle may decelerate at a maximum rate.
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公开(公告)号：US11099563B2
公开(公告)日：2021-08-24
申请号：US16226542
申请日：2018-12-19
Applicant: Zoox, Inc.
Inventor： Shayan Darayan , Joseph Funke , Marc Wimmershoff
IPC: G05D1/00 , G05D1/02 , B60W30/095
Abstract: A vehicle can include a primary computing device and a secondary computing device. The primary computing device can receive a trajectory and can generate control data to control the vehicle based on a computed state. Further, the primary computing device can send the internal data to the secondary computing device configured to control the vehicle in the event of a failure of the primary computing device. The secondary computing device can receive the internal data as first internal data and determine a capability associated with the primary computing device. Using the first internal data, the secondary computing device can determine second internal data and, based on the capability (e.g., in event of a failure of the primary computing device), can control the vehicle to follow a trajectory using the second internal data. Transferring state between an active to a standby computing device can ensure algorithmic synchronization and safe operation.
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公开(公告)号：US12093043B2
公开(公告)日：2024-09-17
申请号：US17408997
申请日：2021-08-23
Applicant: Zoox, Inc.
Inventor： Shayan Darayan , Joseph Funke , Marc Wimmershoff
IPC: G05D1/00 , B60W30/095
CPC classification number: G05D1/0088 , B60W30/0956 , G05D1/0214 , G05D1/0238
Abstract: A vehicle can include a primary computing device and a secondary computing device. The primary computing device can receive a trajectory and can generate control data to control the vehicle based on a computed state. Further, the primary computing device can send the internal data to the secondary computing device configured to control the vehicle in the event of a failure of the primary computing device. The secondary computing device can receive the internal data as first internal data and determine a capability associated with the primary computing device. Using the first internal data, the secondary computing device can determine second internal data and, based on the capability (e.g., in event of a failure of the primary computing device), can control the vehicle to follow a trajectory using the second internal data. Transferring state between an active to a standby computing device can ensure algorithmic synchronization and safe operation.
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公开(公告)号：US11753036B1
公开(公告)日：2023-09-12
申请号：US16653463
申请日：2019-10-15
Applicant: Zoox, Inc.
Inventor： Marc Wimmershoff , James William Vaisey Philbin , Sarah Tariq
CPC classification number: B60W60/0023 , B60L50/60 , G05D1/0212 , G07C5/085 , G01S13/931 , G01S2013/9323 , G01S2013/9324 , H04N7/18
Abstract: Energy consumption for a vehicle may be reduced based at least in part on an environment characteristic associated with the environment through which the vehicle travels or an operation characteristic associated with operation of the vehicle, thereby increasing an operational time of the vehicle. In some situations, reducing energy consumption may be associated with operation of one or more of a sensor (e.g., turning the sensor off, reducing a frequency or resolution of the sensor, etc.) and/or one or more processors associated with the vehicle (e.g., turning a processor off, reducing a rate of computation, etc.) based at least in part on one or more of the environment characteristic signal or the operation characteristic signal.
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公开(公告)号：US11734473B2
公开(公告)日：2023-08-22
申请号：US16708019
申请日：2019-12-09
Applicant: Zoox, Inc.
Inventor： Sai Anurag Modalavalasa , Gerrit Bagschik , Andrew Scott Crego , Antoine Ghislain Deux , Rodin Lyasoff , James William Vaisey Philbin , Ashutosh Gajanan Rege , Andreas Christian Reschka , Marc Wimmershoff
CPC classification number: G06F30/20 , G05D1/0027 , G05D1/0088 , G05D1/0214 , G06F18/23 , G06V20/56 , G06V20/58 , G07C5/0816 , G05D2201/0213
Abstract: Techniques for determining an error model based on vehicle data and ground truth data are discussed herein. To determine whether a complex system (which may be not capable of being inspected) is able to operate safely, various operating regimes (scenarios) can be identified based on operating data. To provide safe operation of such a system, an error model can be determined that can provide a probability associated with perception data and a vehicle can determine a trajectory based on the probability of an error associated with the perception data.
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Patent Agency Ranking
公开(公告)号：US11577722B1
公开(公告)日：2023-02-14
申请号：US16587892
申请日：2019-09-30
Applicant: Zoox, Inc.
Inventor： Jefferson Bradfield Packer , Sarah Tariq , Marc Wimmershoff
IPC: B60W30/095 , G05D1/02 , G05D1/00 , G06V20/58 , G06V40/16
Abstract: A vehicle computing system may implement techniques to predict behavior of objects detected by a vehicle operating in the environment. The techniques may include determining a feature with respect to a detected objects (e.g., likelihood that the detected object will impact operation of the vehicle) and/or a location of the vehicle and determining based on the feature a model to use to predict behavior (e.g., estimated states) of proximate objects (e.g., the detected object). The model may be configured to use one or more algorithms, classifiers, and/or computational resources to predict the behavior. Different models may be used to predict behavior of different objects and/or regions in the environment. Each model may receive sensor data as an input, and output predicted behavior for the detected object. Based on the predicted behavior of the object, a vehicle computing system may control operation of the vehicle.
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公开(公告)号：US20230033315A1
公开(公告)日：2023-02-02
申请号：US17947561
申请日：2022-09-19
Applicant: Zoox, Inc.
Inventor： Sarah Tariq , Ravi Gogna , Marc Wimmershoff , Subasingha Shaminda Subasingha
Abstract: Techniques for detecting and responding to an emergency vehicle are discussed. A vehicle computing system may determine that an emergency vehicle based on sensor data, such as audio and visual data. In some examples, the vehicle computing system may determine aggregate actions of objects (e.g., other vehicles yielding) proximate the vehicle based on the sensor data. In such examples, a determination that the emergency vehicle is operating may be based on the actions of the objects. The vehicle computing system may, in turn, identify a location to move out of a path of the emergency vehicle (e.g., yield) and may control the vehicle to the location. The vehicle computing system may determine that the emergency vehicle is no longer relevant to the vehicle and may control the vehicle along a route to a destination. Determining to yield and/or returning to a mission may be confirmed by a remote operator.
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公开(公告)号：US20210382481A1
公开(公告)日：2021-12-09
申请号：US17408997
申请日：2021-08-23
Applicant: Zoox, Inc.
Inventor： Shayan Darayan , Joseph Funke , Marc Wimmershoff
IPC: G05D1/00 , G05D1/02 , B60W30/095
Abstract: A vehicle can include a primary computing device and a secondary computing device. The primary computing device can receive a trajectory and can generate control data to control the vehicle based on a computed state. Further, the primary computing device can send the internal data to the secondary computing device configured to control the vehicle in the event of a failure of the primary computing device. The secondary computing device can receive the internal data as first internal data and determine a capability associated with the primary computing device. Using the first internal data, the secondary computing device can determine second internal data and, based on the capability (e.g., in event of a failure of the primary computing device), can control the vehicle to follow a trajectory using the second internal data. Transferring state between an active to a standby computing device can ensure algorithmic synchronization and safe operation.
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公开(公告)号：US20210097148A1
公开(公告)日：2021-04-01
申请号：US16586838
申请日：2019-09-27
Applicant: Zoox, Inc.
Inventor： Gerrit Bagschik , Andrew Scott Crego , Antoine Ghislain Deux , Rodin Lyasoff , James William Vaisey Philbin , Marc Wimmershoff , Andreas Christian Reschka , Ashutosh Gajanan Rege
Abstract: Techniques for determining a safety metric associated with a vehicle controller are discussed herein. To determine whether a complex system (which may be uninspectable) is able to operate safely, various operating regimes (scenarios) can be identified based on operating data and associated with a scenario parameter to be adjusted. To validate safe operation of such a system, a scenario may be identified for inspection. Error metrics of a subsystem of the system can be quantified. The error metrics, in addition to stochastic errors of other systems/subsystems can be introduced to the scenario. The scenario parameter may also be perturbed. Any multitude of such perturbations can be instantiated in a simulation to test, for example, a vehicle controller. A safety metric associated with the vehicle controller can be determined based on the simulation, as well as causes for any failures.
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公开(公告)号：US20200233414A1
公开(公告)日：2020-07-23
申请号：US16251788
申请日：2019-01-18
Applicant: Zoox, Inc.
Inventor： Abishek Krishna Akella , Janek Hudecek , Marin Kobilarov , Marc Wimmershoff
IPC: G05D1/00 , G06K9/00 , B60W30/165 , B60W30/16 , G05D1/02
Abstract: Command determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, individual requests for controlling the vehicle relative to each of multiple objects or conditions in an environment are received (substantially simultaneously) and based on the request type and/or additional information associated with a request, command controllers can determine control commands (e.g., different accelerations, steering angles, steering rates, and the like) associated with each of the one or more requests. The command controllers may have different controller gains (which may be based on functions of distance, distance ratios, time to estimated collisions, etc.) for determining the controls and a control command may be determined based on the all such determined controls.
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