公开(公告)号：US20210192199A1

公开(公告)日：2021-06-24

申请号：US16726042

申请日：2019-12-23

Applicant: Zoox, Inc.

Inventor： Carden Taylor Bagwell ,  Subhasis Das ,  Troy Donovan O'Neal

IPC: G06K9/00 ,  G06K9/62 ,  G05D1/02

Abstract: Detecting pedestrians with objects is described (pushing stroller, carts, opening doors, carrying umbrellas, etc.). In an example, a perception component of a vehicle can receive sensor data from sensor(s) associated with the vehicle. The perception component can determine, by a model, observation(s) associated with the sensor data, wherein an observation comprises a first object (e.g., a pedestrian). The perception component can determine whether the first object is associated with a second object (e.g., a pedestrian object), wherein the first object and the second object are associated with a compound object (e.g., a pedestrian/pedestrian object system). The perception component can provide the indication of the first object or an indication of the compound object to at least one of a prediction component or a planning component of the vehicle for controlling the vehicle.

公开(公告)号：US11789155B2

公开(公告)日：2023-10-17

申请号：US16726097

申请日：2019-12-23

Applicant: Zoox, Inc.

Inventor： Carden Taylor Bagwell ,  Subhasis Das ,  Troy Donovan O'Neal

IPC: G01S17/931 ,  G06N20/00 ,  G01S7/48 ,  G06V40/20 ,  G06V20/58 ,  G06F18/214

CPC classification number: G01S17/931 ,  G01S7/4802 ,  G06F18/214 ,  G06N20/00 ,  G06V20/58 ,  G06V40/25

Abstract: Training a model for detecting pedestrian objects is described. Annotated data can be received by a training component. In an example, the annotated data can include a first indication of a first object (e.g., a pedestrian) and a second indication of a second object (e.g., a pedestrian object), wherein the first object and the second object comprise a portion of a compound object (e.g., a pedestrian/pedestrian object system). In an example, a training component can train a model to determine an output associated with a second object based at least in part on the annotated data and the model can be transmitted to a vehicle configured to be controlled by output(s) of the model.

公开(公告)号：US11462041B2

公开(公告)日：2022-10-04

申请号：US16726042

申请日：2019-12-23

Applicant: Zoox, Inc.

Inventor： Carden Taylor Bagwell ,  Subhasis Das ,  Troy Donovan O'Neal

IPC: G06V20/58 ,  G06V40/10 ,  G05D1/02 ,  G06K9/62 ,  G06V20/10

Abstract: Detecting pedestrians with objects is described (pushing stroller, carts, opening doors, carrying umbrellas, etc.). In an example, a perception component of a vehicle can receive sensor data from sensor(s) associated with the vehicle. The perception component can determine, by a model, observation(s) associated with the sensor data, wherein an observation comprises a first object (e.g., a pedestrian). The perception component can determine whether the first object is associated with a second object (e.g., a pedestrian object), wherein the first object and the second object are associated with a compound object (e.g., a pedestrian/pedestrian object system). The perception component can provide the indication of the first object or an indication of the compound object to at least one of a prediction component or a planning component of the vehicle for controlling the vehicle.

公开(公告)号：US20220204029A1

公开(公告)日：2022-06-30

申请号：US17138710

申请日：2020-12-30

Applicant: Zoox, Inc.

Inventor： Yuanyuan Chen ,  Subhasis Das ,  Mark Jonathon McClelland ,  Troy Donovan O'Neal ,  Zeng Wang ,  Dhanushka Nirmevan Kularatne

IPC: B60W60/00 ,  G06K9/00 ,  G06K9/46 ,  G01S17/931 ,  G06T15/06 ,  G06T7/73

Abstract: Techniques for collision avoidance using an object contour are discussed. A trajectory associated with a vehicle may be received. Sensor data can be received from a sensor associated with the vehicle. A bounding contour may be determined and associated with an object represented in the sensor data. Based on the trajectory, a simulated position of the vehicle can be determined. Additionally, a predicted position of the bounding contour can be determined. Based on the simulated position of the vehicle and the predicted position of the bounding contour, a distance between the vehicle and the object may be determined. An action can be performed based on the distance between the vehicle and the object.

公开(公告)号：US20210192196A1

公开(公告)日：2021-06-24

申请号：US16726097

申请日：2019-12-23

Applicant: Zoox, Inc.

Inventor： Carden Taylor Bagwell ,  Subhasis Das ,  Troy Donovan O'Neal

IPC: G06K9/00 ,  G06K9/62 ,  G01S7/48 ,  G01S17/931 ,  G06N20/00

Abstract: Training a model for detecting pedestrian objects is described. Annotated data can be received by a training component. In an example, the annotated data can include a first indication of a first object (e.g., a pedestrian) and a second indication of a second object (e.g., a pedestrian object), wherein the first object and the second object comprise a portion of a compound object (e.g., a pedestrian/pedestrian object system). In an example, a training component can train a model to determine an output associated with a second object based at least in part on the annotated data and the model can be transmitted to a vehicle configured to be controlled by output(s) of the model.