公开(公告)号：US20240092350A1

公开(公告)日：2024-03-21

申请号：US17842469

申请日：2022-06-16

Applicant: Zoox, Inc.

Inventor： Varun Agrawal ,  Taylor Scott Clawson ,  Gareth John Ellis ,  Brian Michael Filarsky ,  Giacomo Zavolta Taylor

IPC: B60W30/09 ,  B60W30/095 ,  B60W40/04 ,  B60W60/00 ,  G06N20/00

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W40/04 ,  B60W60/0011 ,  B60W60/0015 ,  B60W60/00274 ,  G06N20/00 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2554/80

Abstract: Techniques for validating or determining trajectories for a vehicle are discussed herein. A trajectory management component can receive status and/or error data from other safety system components and select or otherwise determine safe and valid vehicle trajectories. A perception component of a safety system can validate a trajectory upon which the trajectory management component can wait for selecting a vehicle trajectory, validate trajectories stored in a queue, and/or utilize kinematics for validation of trajectories. A filter component of the safety system can filter out objects based on trajectories stored in a queue. A collision detection component of the safety system can determine the collision states based on trajectories stored in a queue or determine a collision state upon which the trajectory management component can wait for selecting or otherwise determining a vehicle trajectory.

公开(公告)号：US20240034308A1

公开(公告)日：2024-02-01

申请号：US17815994

申请日：2022-07-29

Applicant: Zoox, Inc.

Inventor： Varun Agrawal ,  Jacob Daniel Boydston ,  Taylor Scott Clawson ,  Joshua Dean Egbert ,  Brian Michael Filarsky ,  Joseph Funke ,  Noureldin Ehab Hendy ,  Richard Hsieh ,  Glenn Xavier Liem ,  David Benjamin Lu ,  Leonardo Poubel Orenstein

IPC: B60W30/09 ,  B60T7/22 ,  B60W50/14

CPC classification number: B60W30/09 ,  B60T7/22 ,  B60W50/14 ,  B60W2710/18 ,  B60W2556/45 ,  B60W2520/04 ,  B60W2520/10 ,  B60W2552/15 ,  B60W2554/802

Abstract: Systems and techniques for determining a trajectory for use in controlling a vehicle are described. A trajectory determination system may generate a variety of trajectories for potential use in controlling a vehicle, including a maximum braking trajectory that enables the maximum application of the vehicle's brakes. A vehicle computing system may determine a distance between vehicle and an obstacle and stopping distances for the various trajectories and implement the maximum braking trajectory after determining that the distance to stop for that trajectory is the same as, but not substantially greater than, the distance between the vehicle and the obstacle.

公开(公告)号：US20240326791A1

公开(公告)日：2024-10-03

申请号：US18193285

申请日：2023-03-30

Applicant: Zoox, Inc.

Inventor： Taylor Scott Clawson ,  Olivier Amaury Toupet ,  Varun Agrawal ,  Leonardo Poubel Orenstein ,  Jonathan Scott Mcneely

IPC: B60W30/095 ,  B60W30/09 ,  B60W40/06

CPC classification number: B60W30/0953 ,  B60W30/09 ,  B60W30/0956 ,  B60W40/06 ,  B60W2552/00 ,  B60W2554/80

Abstract: Techniques for determining an optimal trajectory for a vehicle are discussed herein. In some cases, the described techniques include receiving, from a first computing system and by a second computing system (e.g., a computing system associated with a trajectory validation system of the vehicle), a primary trajectory and an alternative trajectory for the vehicle. In some cases, the second computing system is configured to select or otherwise determine whether to select the primary trajectory, the alternative trajectory, or neither trajectory for the vehicle. In some cases, the alternative trajectory is determined by applying a lateral swerve to the primary trajectory.

公开(公告)号：US20250002047A1

公开(公告)日：2025-01-02

申请号：US18345963

申请日：2023-06-30

Applicant: Zoox, Inc.

Inventor： Vincent Andreas Laurense ,  Glenn Xavier Liem ,  Joseph Funke ,  Varun Agrawal ,  Jiayin Xia

IPC: B60W60/00 ,  B60W50/02

Abstract: Techniques for optimal trajectory generation for a vehicle are described herein. In some cases, the techniques described herein include determining a first primary trajectory by a first component (e.g., a planner component) of the vehicle, determining a triggering event associated with the first primary trajectory by a second component (e.g., a trajectory validation component) of the vehicle, controlling the vehicle based on an alternative trajectory (e.g., a trajectory configured to cause the vehicle to stop and/or slow down) in response to the triggering event, determining a second primary trajectory by the first component and based at least in part on a state of the vehicle along the alternative trajectory, and one or more of: (i) controlling the vehicle based on the alternative trajectory if the triggering event is still present, or (ii) controlling the vehicle based on the second primary trajectory if the triggering event is no longer present.