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公开(公告)号：US11953590B1
公开(公告)日：2024-04-09
申请号：US17900825
申请日：2022-08-31
Applicant: Zoox, Inc.
IPC: G01S13/931 , G01S13/00 , G01S13/87
CPC classification number: G01S13/931 , G01S13/878 , G01S13/003
Abstract: This disclosure describes techniques for detecting multipath radar returns and modifying radar data. A vehicle may use radar devices to receive radar data while traversing within an environment. The vehicle may process the radar data using a virtual array based on an arraignment of the antennae within an aperture of the radar device. Using the virtual array, the vehicle may determine an elevated noise level that may be indicative of a multipath radar return. Based on the elevated noise level, the vehicle may determine a second virtual array associated with multipath radar returns, and may process the radar data using the second virtual array. Based on determining that the noise level associated with the second virtual array is lower than the initial noise level, the vehicle may determine that the radar data includes a multipath radar return, and may modify the radar data to correct or mitigate the error caused by the multipath return.
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公开(公告)号：US12164058B2
公开(公告)日：2024-12-10
申请号：US17384430
申请日：2021-07-23
Applicant: Zoox, Inc.
Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Subasingha Shaminda Subasingha , Joshua Kriser Cohen , Chuang Wang , Samantha Marie Ting , Badeea Ferdaous Alferdaous Alazem
IPC: G01S7/41 , G01S13/931
Abstract: Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.
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公开(公告)号：US12276726B1
公开(公告)日：2025-04-15
申请号：US17900829
申请日：2022-08-31
Applicant: Zoox, Inc.
IPC: G01S13/931 , G01S13/00 , G01S13/87
Abstract: This disclosure describes techniques for detecting multipath radar returns and modifying radar data. A vehicle may use radar devices to receive radar data while traversing within an environment. The vehicle may process the radar data using a virtual array based on an arraignment of the antennae within an aperture of the radar device. Using the virtual array, the vehicle may determine an elevated noise level that may be indicative of a multipath radar return. Based on the elevated noise level, the vehicle may determine a second virtual array associated with multipath radar returns, and may process the radar data using the second virtual array. Based on determining that the noise level associated with the second virtual array is lower than the initial noise level, the vehicle may determine that the radar data includes a multipath radar return, and may modify the radar data to correct or mitigate the error caused by the multipath return.
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Patent Agency Ranking
公开(公告)号：US20230131721A1
公开(公告)日：2023-04-27
申请号：US17384448
申请日：2021-07-23
Applicant: Zoox, Inc.
Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Subasingha Shaminda Subasingha , Joshua Kriser Cohen , Chuang Wang , Samantha Marie Ting , Badeea Ferdaous Alferdaous Alazem
Abstract: Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.
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公开(公告)号：US12235396B1
公开(公告)日：2025-02-25
申请号：US17551078
申请日：2021-12-14
Applicant: Zoox, Inc.
Inventor： Nehemia Girma Terefe , Mohammad Umar Piracha , Samantha Marie Ting
IPC: G01S7/497 , B60S1/54 , B60W60/00 , G01S17/89 , G01S17/931
Abstract: Techniques for detecting an obstruction associated with a lidar sensor are discussed herein. For example, a computing device can implement an obstruction detection component to detect rain, mud, dirt, dust, snow, ice, animal droppings, etc., on and/or near an outer surface of the lidar sensor. The obstruction detection component can apply one or more heuristics and/or models to the lidar data and/or compare pulse information associated with the lidar data to a threshold to determine a size, a type, or a location of an obstruction blocking a lidar beam.
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公开(公告)号：US20220350018A1
公开(公告)日：2022-11-03
申请号：US17245929
申请日：2021-04-30
Applicant: Zoox, Inc.
Inventor： Badeea Ferdaous Alferdaous Alazem , Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Joshua Kriser Cohen , Subasingha Shaminda Subasingha , Samantha Marie Ting , Chuang Wang
IPC: G01S13/931 , G01S13/86 , G01S17/95 , G01S13/89
Abstract: Techniques for determining a probability of a false negative associated with a location of an environment are discussed herein. Data from a sensor, such as a radar sensor, can be received that includes point cloud data, which includes first and second data points. The first data point has a first attribute and the second data point has a second attribute. A difference between the first and second attributes is determined such that a frequency distribution may be determined. The frequency distribution may then be used to determine a distribution function, which allows for the determination of a resolution function that is associated with the sensor. The resolution function may then be used to determine a probability of a false negative at a location in an environment. The probability can be used to control a vehicle in a safe and reliable manner.
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公开(公告)号：US11709260B2
公开(公告)日：2023-07-25
申请号：US17245929
申请日：2021-04-30
Applicant: Zoox, Inc.
Inventor： Badeea Ferdaous Alferdaous Alazem , Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Joshua Kriser Cohen , Subasingha Shaminda Subasingha , Samantha Marie Ting , Chuang Wang
IPC: G01S13/931 , G01S13/89 , G01S17/95 , G01S13/86
CPC classification number: G01S13/931 , G01S13/865 , G01S13/89 , G01S17/95
Abstract: Techniques for determining a probability of a false negative associated with a location of an environment are discussed herein. Data from a sensor, such as a radar sensor, can be received that includes point cloud data, which includes first and second data points. The first data point has a first attribute and the second data point has a second attribute. A difference between the first and second attributes is determined such that a frequency distribution may be determined. The frequency distribution may then be used to determine a distribution function, which allows for the determination of a resolution function that is associated with the sensor. The resolution function may then be used to determine a probability of a false negative at a location in an environment. The probability can be used to control a vehicle in a safe and reliable manner.
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公开(公告)号：US20230142674A1
公开(公告)日：2023-05-11
申请号：US17384430
申请日：2021-07-23
Applicant: Zoox, Inc.
Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam , Subasingha Shaminda Subasingha , Joshua Kriser Cohen , Chuang Wang , Samantha Marie Ting , Badeea Ferdaous Alferdaous Alazem
IPC: G01S7/41 , G01S13/931
CPC classification number: G01S7/41 , G01S13/931
Abstract: Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.
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