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公开(公告)号：US11960009B2
公开(公告)日：2024-04-16
申请号：US17138751
申请日：2020-12-30
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Zeng Wang
IPC: G01S17/931 , B60W30/09 , B60W30/095 , G01C21/00 , G01S17/89 , G08G1/16
CPC classification number: G01S17/931 , B60W30/09 , B60W30/0956 , G01C21/3837 , G01S17/89 , G08G1/166 , B60W2420/408 , B60W2554/20 , B60W2554/4029
Abstract: Techniques for determining an object contour are discussed. Depth data associated with an object may be received. The depth data, such as lidar data, can be projected onto a two-dimensional plane. A first convex hull may be determined based on the projected lidar data. The first convex hull may include a plurality of boundary edges. A longest boundary edge, having a first endpoint and a second endpoint, can be determined. An angle can be determined based on the first endpoint, the second endpoint, and an interior point in the interior of the first convex hull. The longest boundary edge may be replaced with a first segment based on the first endpoint and the interior point, and a second segment based on the interior point and the second endpoint. An updated convex hull can be determined based on the first segment and the second segment.
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公开(公告)号：US12272153B2
公开(公告)日：2025-04-08
申请号：US18091136
申请日：2022-12-29
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Janek Hudecek , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.
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公开(公告)号：US20220206162A1
公开(公告)日：2022-06-30
申请号：US17138751
申请日：2020-12-30
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Zeng Wang
IPC: G01S17/931 , G01S17/89 , B60W30/09 , G01C21/00 , B60W30/095 , G08G1/16
Abstract: Techniques for determining an object contour are discussed. Depth data associated with an object may be received. The depth data, such as lidar data, can be projected onto a two-dimensional plane. A first convex hull may be determined based on the projected lidar data. The first convex hull may include a plurality of boundary edges. A longest boundary edge, having a first endpoint and a second endpoint, can be determined. An angle can be determined based on the first endpoint, the second endpoint, and an interior point in the interior of the first convex hull. The longest boundary edge may be replaced with a first segment based on the first endpoint and the interior point, and a second segment based on the interior point and the second endpoint. An updated convex hull can be determined based on the first segment and the second segment.
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Patent Agency Ranking
公开(公告)号：US20210192234A1
公开(公告)日：2021-06-24
申请号：US16722931
申请日：2019-12-20
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Janek Hudecek , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.
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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
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.
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公开(公告)号：US12030522B2
公开(公告)日：2024-07-09
申请号：US17138710
申请日：2020-12-30
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Subhasis Das , Dhanushka Nirmevan Kularatne , Mark Jonathon McClelland , Troy Donovan O′Neal , Zeng Wang
CPC classification number: B60W60/0011 , B60W60/00274 , G01S17/931 , G06T7/74 , G06T15/06 , G06V10/44 , G06V20/58 , B60W2420/408 , B60W2554/80 , G06T2207/10028 , G06T2207/30261 , G06T2210/12
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.
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公开(公告)号：US20230206650A1
公开(公告)日：2023-06-29
申请号：US18091136
申请日：2022-12-29
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Janek Hudecek , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.
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公开(公告)号：US11544936B2
公开(公告)日：2023-01-03
申请号：US16722931
申请日：2019-12-20
Applicant: Zoox, Inc.
Inventor： Yuanyuan Chen , Janek Hudecek , David Pfeiffer , James William Vaisey Philbin , Zeng Wang
Abstract: A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.
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