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.

公开(公告)号：US11914390B2

公开(公告)日：2024-02-27

申请号：US16836605

申请日：2020-03-31

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Aleksandr Oysgelt ,  Subasingha Shaminda Subasingha ,  Nam Gook Cho

IPC: G05D1/00 ,  G01S17/931 ,  G01S17/89 ,  G08G1/16 ,  G01S17/86

CPC classification number: G05D1/0238 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G08G1/166 ,  G05D2201/0213

Abstract: Techniques for determining information associated with sounds detected in an environment based on audio data and map data or perception data are discussed herein. A vehicle can use map data and/or perception data to distinguish between multiple audio signals or sounds. A direct source of sound can be distinguished from a reflected source of sound by determining a direction of arrival of sounds and which objects the directions of arrival are associated with in the environment. A reflected sound can be received without receiving a direct sound. Based on the reflected sound and map data or perception data, characteristics of sound in an occluded region of the environment may be determined and used to control the vehicle.

公开(公告)号：US11480961B1

公开(公告)日：2022-10-25

申请号：US16691424

申请日：2019-11-21

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Nam Gook Cho ,  Jonathan Tyler Dowdall ,  Subasingha Shaminda Subasingha

IPC: G05D1/00 ,  G10L25/51 ,  H04R1/40 ,  H04R3/00 ,  H04R5/02 ,  H04R5/027 ,  H04S3/00 ,  H04S7/00 ,  H04R5/04 ,  H04L67/12

Abstract: Immersive experiences for users are described herein. In an example, audio data from a plurality of audio sensors associated with a vehicle can be received by an audio data processing system. The audio data processing system can combine individual captured audio channels (e.g., from the plurality of audio sensors) into two or more audio channels for output via two or more speakers proximate a user. A first audio channel of the two or more audio channels can be output via a first speaker and second audio channel of the two or more audio channels to be output via a second speaker, wherein output of the first audio channel and the second audio channel causes a resulting sound corresponding to at least a portion of a sound scene associated with the vehicle. In an example, a user computing device operable by the user can receive an input from the user.

公开(公告)号：US11480686B2

公开(公告)日：2022-10-25

申请号：US16851033

申请日：2020-04-16

Applicant: Zoox, Inc.

Inventor： Sreevatsan Bhaskaran ,  Mehran Ferdowsi ,  Ryan McMichael ,  Subasingha Shaminda Subasingha

IPC: G01S17/931 ,  G01S7/4861 ,  G01S7/484 ,  G01S17/42 ,  G01S17/86

Abstract: Particulate matter, such as dust, steam, smoke, rain, etc. may cause one or more sensor types to generate false positive detections. In particular, various depth measurements may be impeded by particulate matter. Identifying a false return and/or removing a false detection based at least in part on a sensor output may comprise determining a similarity of a portion of a return signal to an emitted light pulse or an expected return signal, determining a variance of the signal portion over time, determining a difference between a power spectrum of the return relative to an expected power spectrum, and/or determining that a duration associated with the signal portion meets or exceeds a threshold duration.

公开(公告)号：US20220312138A1

公开(公告)日：2022-09-29

申请号：US17216491

申请日：2021-03-29

Applicant: Zoox, Inc.

Inventor： Venkata Subrahmanyam Chandra Sekhar Chebiyyam ,  Turhan Karadeniz ,  Nam Gook Cho ,  Subasingha Shaminda Subasingha

IPC: H04R29/00 ,  H04R3/00 ,  H04R1/32

Abstract: Techniques for adaptive cross-correlation are discussed. A first signal is received from a first audio sensor associated with a vehicle and a second signal is received from a second audio sensor associated with the vehicle. Techniques may include determining, based at least in part on the first signal, a first transformed signal in a frequency domain. Additionally, the techniques include determining, based at least in part on the second signal, a second transformed signal in the frequency domain. A parameter can be determined based at least in part on a characteristic associated with at least one of the vehicle, an environment proximate the vehicle, or one or more of the first or second signal. Cross-correlation data can be determined based at least in part on one or more of the first transformed signal, the second transformed signal, or the parameter.

公开(公告)号：US20220255653A1

公开(公告)日：2022-08-11

申请号：US17248755

申请日：2021-02-05

Applicant: Zoox, Inc.

Inventor： Mehran Ferdowsi ,  Turhan Karadeniz ,  Minh Nguyen ,  Subasingha Shaminda Subasingha ,  Harrison Thomas Waschura

IPC: H04J3/06 ,  H04J3/02 ,  H04L12/26

Abstract: Techniques for facilitating a robust clock synchronization across a computer network that presumes network jitter exists are discussed herein. A first device and a second device transceive a plurality of sets of time-synchronization messages to synchronize a synchronization clock of the second device to a first clock of the first device. The second device calculates a smoothing of time delay data of a plurality of sets. The time delay data is associated with a transmission duration of time-synchronization messages of the sets of the plurality. The second device sets a synchronization clock based on a time at the first device and the smoothed time delay data.

公开(公告)号：US20220179089A1

公开(公告)日：2022-06-09

申请号：US17115180

申请日：2020-12-08

Applicant: Zoox, inc.

Inventor： Subasingha Shaminda Subasingha ,  Yongzhe Chen ,  Mehran Ferdowsi ,  Samuel Holladay ,  Tuman Karadeniz ,  Roberrt Nicholsd Moor ,  Joseph Patrick Warga ,  Harrison Thomas Waschura ,  Silas Kogure Wilkinson

IPC: G01S17/931 ,  G06T7/521 ,  G06T7/70 ,  G06T7/55 ,  G01S13/931 ,  G01S15/931

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. An estimated depth of an object may be determined from the first image data, and an actual depth of the object may be determined from the second image data, based on the estimated depth. In examples, the first and second configurations have different modulation frequencies such that a nominal maximum depth in the first configuration is greater than the nominal maximum depth in the second configuration.

公开(公告)号：US11194027B1

公开(公告)日：2021-12-07

申请号：US16550153

申请日：2019-08-23

Applicant: Zoox, Inc.

Inventor： Subasingha Shaminda Subasingha ,  Turhan Karadeniz ,  Robert Nicholas Moor ,  Mehran Ferdowsi

IPC: G01S7/493

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can include noise. In some examples, the sensor data is filtered by comparing a measured intensity value to a threshold intensity value. The threshold intensity value can be determined on a per-pixel basis using depth information and/or intensity information for a corresponding image frame.

公开(公告)号：US20210199764A1

公开(公告)日：2021-07-01

申请号：US17181960

申请日：2021-02-22

Applicant: Zoox, Inc.

Inventor： Turhan Karadeniz ,  Subasingha Shaminda Subasingha ,  Ravi Sankar Mahankali ,  Denis Nikitin

IPC: G01S7/48 ,  G01S7/4865 ,  G01S17/10 ,  G01S17/931 ,  G01S7/487

Abstract: A LIDAR sensor assembly includes a laser light source to emit laser light, and a light sensor to produce a light signal in response to sensing reflections of the laser light emitted by the laser light source from a reference surface that is fixed in relation to the LIDAR sensor assembly. A controller of the LIDAR sensor assembly can process a plurality of samples of reflected light signals, process the samples to remove erroneous readings, and then provide accurate distance measurement. The system can use low-pass filters, or other components, to filter the plurality of samples to enable the “actual,” or primary, reflected light signal (i.e., light signal reflected off of a surface in an environment external to the sensor assembly, as opposed to extraneous, internal reflections off of lenses or other components or noise) to be identified and an accurate time of flight to be calculated.

公开(公告)号：US20200158876A1

公开(公告)日：2020-05-21

申请号：US16198208

申请日：2018-11-21

Applicant: Zoox, Inc.

Inventor： Turhan Karadeniz ,  Ryan McMichael ,  Robert Nicholas Moor ,  Denis Nikitin ,  Subasingha Shaminda Subasingha

IPC: G01S17/93 ,  G01S7/48 ,  G01S7/484 ,  G05D1/00 ,  G05D1/02

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. The sensor may generate first image data at a first configuration and second image data at a second configuration. The first image data and the second image data may be combined to provide disambiguated depth and improved intensity values for imaging the environment. In some examples, the first and second configurations may have different modulation frequencies, different integration times, and/or different illumination intensities. In some examples, configurations may be dynamically altered based on depth and/or intensity information of a previous frame.