Patents Assigned to Zoox, Inc.
  • Patent number: 11906967
    Abstract: Techniques to use a trained model to determine a yaw of an object are described. For example, a system may implement various techniques to generate multiple representations for an object in an environment. Each representation vary based on the technique and data used. An estimation component may estimate a representation from the multiple representations. The model may be implemented to output a yaw for the object using the multiple representations, the estimated representation, and/or additional information. The output yaw may be used to track an object, generate a trajectory, or otherwise control a vehicle.
    Type: Grant
    Filed: March 31, 2020
    Date of Patent: February 20, 2024
    Assignee: Zoox, Inc.
    Inventors: Subhasis Das, Francesco Papi, Shida Shen
  • Patent number: 11904848
    Abstract: This disclosure relates to systems and techniques for identifying collisions, such as relatively low energy impact collisions involving an autonomous vehicle. Sensor data from a first sensor modality in a first array may be used to determine a first estimated location of impact and second sensor data from a second sensor modality in a second array may be used to determine a second estimated location of impact. A low energy impact event may be configured when the first estimated location of impact corresponds to the second estimated location of impact.
    Type: Grant
    Filed: April 30, 2021
    Date of Patent: February 20, 2024
    Assignee: Zoox, Inc.
    Inventors: Marina Camille Josephs, Mark Alan Bates, Nam Gook Cho, Subhasis Das, Markus Jost, Amanda Brown Prescott, Valerie Bumbaca Randolph, Subasingha Shaminda Subasingha
  • Patent number: 11908204
    Abstract: Navigation systems can identify objects in an environment and generate representations of those objects. A representation of an articulated vehicle can include two segments rotated relative to each other about a pivot, with a first segment corresponding to a first portion of the articulated vehicle and the second segment corresponding to a second portion of the articulated vehicle. The articulated object can be tracked in the environment by generating estimated updated states of the articulated agent based on previous states and/or measured states of the object using differing motion model updates for the differing portions. The estimated updated states may be determined using one or more filtering algorithms, which may be constrained using pseudo-observables.
    Type: Grant
    Filed: May 27, 2022
    Date of Patent: February 20, 2024
    Assignee: ZOOX, INC.
    Inventors: Shiwei Sheng, Subhasis Das, Yassen Ivanchev Dobrev, Chuang Wang
  • Patent number: 11897506
    Abstract: A vehicle may include an active ride comfort tuning system that reactively and/or proactively alters a parameter of a system of the autonomous vehicle to mitigate or avoid interruptions to ride smoothness. For example, the comfort tuning system may alter a parameter of a drive system, suspension, and/or a trajectory cost function. The comfort tuning system may alter the parameter based at least in part on detecting and/or receiving a comfort indication, determined based on sensor data, user input, or the like.
    Type: Grant
    Filed: March 29, 2021
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventor: Prateek Chandresh Shah
  • Patent number: 11897486
    Abstract: Techniques described are related to determining when a discrepancy between data of multiple sensors (e.g., IMUs) might be attributable to a sensor error, as opposed to operating conditions, such as sensor bias or noise. For example, the sensor data is passed through one or more filters (e.g., bandpass filter) that model the bias or noise, and the filtered data may then be compared for consistency. In some examples, consistency may be based on residuals or some other metric describing discrepancy among the filtered sensor data.
    Type: Grant
    Filed: November 29, 2021
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventors: Derek Adams, Eric Andre Senant, Weihung Ko, Michael Carsten Bosse
  • Patent number: 11899114
    Abstract: A soft-constraint technique for refining an initial pose graph may eschew using a hard constraint that identifies different sensor data and/or poses as necessarily being associated with a same portion of an environment. Instead, the soft-constraint technique may employ a loss function with a convergence basin that may be defined based at least in part on an object classification that strongly penalizes candidate locations within a distance associated with the convergence basin. These candidate locations may be based at least in part on one or more object detections associated (1:1) with one or more poses of the initial pose graph. This may result in one or more candidate locations that do not merge with other candidate locations, giving the pose graph optimization the permissiveness or softness according to the techniques described herein.
    Type: Grant
    Filed: May 31, 2022
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventors: Till Kroeger, Veeresh Taranalli, Michael Carsten Bosse
  • Patent number: 11898873
    Abstract: Systems and methods for calibrating multiple inertial measurement units on a system include calibrating a first of the inertial measurement units relative to the system using a first calibration model, and calibrating the remaining inertial measurement unit(s) relative to the first inertial measurement unit using a second calibration model. The calibration of the remaining inertial measurement unit(s) to the first inertial measurement unit can be based on a rigid body model by aligning a rotational velocity of the first inertial measurement unit with a rotational velocity of the remaining inertial measurement unit(s).
    Type: Grant
    Filed: August 31, 2021
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventors: Siddharth Ratapani Navin, Derek Adams, Michael Carsten Bosse, Aleksandrs Ecins
  • Patent number: 11897480
    Abstract: A system may schedule a vehicle for accommodating preferences of occupants within the vehicle. In some instances, an identity of the occupant may be determined and using the identity, the preference of the occupant may be determined. The vehicle may be schedule for the occupant in instances where the vehicle is able to accommodate the preference. The vehicle may be adjusted or setting(s) of the vehicle may be adjusted based on the preference. The vehicle may travel along a route according to the preferences.
    Type: Grant
    Filed: December 18, 2020
    Date of Patent: February 13, 2024
    Assignee: Zoox, Inc.
    Inventors: David Martins Belo, Johannes Edren, Johannes Andreas Huennekens, Ella Strack
  • Patent number: 11897411
    Abstract: An occupant protection system for a vehicle may include an expandable curtain and/or an expandable bladder configured to be expanded from a stowed state to a deployed state. The system may also include a transverse ceiling trim panel and one or more side ceiling trim panels configured to be coupled to a ceiling of the vehicle, with the transverse ceiling trim panel extending substantially transversely with respect to the one or more side ceiling trim panels. Portions of the ceiling trim panels may be configured to deflect and allow expansion of the expandable curtain and/or the expandable bladder to the deployed state. The system may also include a deployment controller and one or more inflators configured to cause deployment of the expandable curtain at a first time and deployment of the expandable bladder at a second time after the first time.
    Type: Grant
    Filed: April 7, 2023
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventors: Josh Alexander Jimenez, Markus Jost, Andrew John Piper, Andrew Frank Raczkowski
  • Patent number: 11892835
    Abstract: The present disclosure is directed to systems and techniques for controlling an autonomous vehicle. While the autonomous vehicle is travelling to a destination, the autonomous vehicle may encounter a situation preventing the autonomous vehicle from travelling to the destination. A control center may receive information from the autonomous device and use a graphical user interface to provide instructions with limited controls for the autonomous vehicle to navigate to an intermediate position. In such an intermediate position, the vehicle may make way for an emergency vehicle, obtain additional sensor data for continued autonomous planning, signal intent to other objects in the environment, and the like.
    Type: Grant
    Filed: July 26, 2019
    Date of Patent: February 6, 2024
    Assignee: ZOOX, INC.
    Inventors: Ravi Gogna, Meredith James Goldman
  • Patent number: 11892847
    Abstract: A domain specific language for use in constructing simulations within real environments is described. In an example, a computing device associated with a vehicle can receive, from one or more sensors associated with the vehicle, sensor data associated with an environment within which the vehicle is positioned. In an example, the vehicle can be an autonomous vehicle. The computing device associated with the vehicle can receive simulated data associated with one or more primitives that are to be instantiated as a scenario in the environment. The computing device can merge the sensor data and the simulated data to generate aggregated data and determine a trajectory along which the vehicle is to drive based at least in part on the aggregated data. The computing device can determine instructions for executing the trajectory and can assess the performance of the vehicle based on how the vehicle responds to the scenario.
    Type: Grant
    Filed: November 9, 2020
    Date of Patent: February 6, 2024
    Assignee: Zoox, Inc.
    Inventors: Jacob Lee Askeland, Ryan Martin Cahoon, Gary Linscott
  • Patent number: 11891088
    Abstract: A reward determined as part of a machine learning technique, such as reinforcement learning, may be used to control an adversarial agent in a simulation such that a component for controlling motion of the adversarial agent is trained to reduce the reward. Training the adversarial agent component may be subject to one or more constraints and/or may be balanced against one or more additional goals. Additionally or alternatively, the reward may be used to alter scenario data so that the scenario data reduces the reward, allowing the discovery of difficult scenarios and/or prospective events.
    Type: Grant
    Filed: June 14, 2021
    Date of Patent: February 6, 2024
    Assignee: ZOOX, INC.
    Inventors: Marin Kobilarov, Jefferson Bradfield Packer, Gowtham Garimella, Andreas Pasternak, Yiteng Zhang, Ruikun Yu
  • Patent number: 11891078
    Abstract: Techniques for identifying a constraint to apply to an operation of a vehicle are described herein. A vehicle computing system receives diagnostics and constraints associated with components of the vehicle. The vehicle computing system identifies constraints to apply to vehicular operation based on the received diagnostics and constraints. The vehicle computing system may determine whether a received constraint is valid, based on associated diagnostics. Based on a determination that the constraint is valid, the vehicle computing system may include the constraint in vehicle control considerations. Based on a determination that the constraint is invalid, the vehicle computing system may withhold the constraint from vehicle control considerations.
    Type: Grant
    Filed: September 29, 2021
    Date of Patent: February 6, 2024
    Assignee: ZOOX, INC.
    Inventors: Matthew Daniel Lopez, Collin MacGregor, Darrin Sammons Willis, Udayan Pushparaj Karmarkar, Lilith Rogue Automata
  • Patent number: 11891076
    Abstract: Techniques for determining whether to limit an operation of a vehicle while operating in a manually assisted mode of operation are described herein. A vehicle computing system can monitor components of the vehicle and identify a fault associated with a component. The vehicle computing system can determine whether the fault is associated with a manual operation of the vehicle. Based on a determination that the fault is not associated with the manual operation of the vehicle (e.g., fault associated with an autonomous control component), the vehicle computing system can override the fault and enable continued operation of the vehicle in the manually assisted mode of operation. Based on a determination that the fault is associated with the manual operation of the vehicle, the vehicle computing system can cause the vehicle to cease operating.
    Type: Grant
    Filed: September 29, 2021
    Date of Patent: February 6, 2024
    Assignee: ZOOX, INC.
    Inventors: Matthew Daniel Lopez, Collin MacGregor, Udayan Pushparaj Karmarkar, Austin Hendrix, Eric Yu-Chieh Shyu
  • Patent number: 11893750
    Abstract: A machine-learning (ML) architecture for determining three or more outputs, such as a two and/or three-dimensional region of interest, semantic segmentation, direction logits, depth data, and/or instance segmentation associated with an object in an image. The ML architecture may output these outputs at a rate of 30 or more frames per second on consumer grade hardware.
    Type: Grant
    Filed: December 31, 2019
    Date of Patent: February 6, 2024
    Assignee: ZOOX, INC.
    Inventors: Kratarth Goel, James William Vaisey Philbin, Praveen Srinivasan, Sarah Tariq
  • Patent number: 11884238
    Abstract: Techniques for interacting with authorized and unauthorized users by a door interface component are discussed herein. A vehicle computing device can implement the door interface component and/or an authentication component to control operation of a door of the vehicle or initiate a communication for assistance. For instance, the door interface component can include a button, that provides different visual indicators and functionality based on whether the user is authorized to enter the autonomous vehicle (e.g., open a door or provide visual indicators for the user to select to cause the door to open) or to request to move the vehicle, initiate hiring the vehicle, or call for help when the user is unauthorized to enter the autonomous vehicle.
    Type: Grant
    Filed: October 21, 2021
    Date of Patent: January 30, 2024
    Assignee: ZOOX, INC.
    Inventors: Andrew Allen Haskin, Auver Cedric Austria
  • Patent number: 11884282
    Abstract: Techniques for increasing performance of machine-learned models while conserving computational resources generally required by ensemble machine-learning methods are described herein. The techniques may include determining multiple views of a scene that is to be input into a machine-learned model. In some examples, a scene data input may be rotated by 90, 180, and 270 degrees to generate four scene inputs (e.g., 0-, 90-, 180-, and 270-degree rotated inputs) that can be passed through the machine-learned model and the results per scene can be aggregated to determine a final prediction/decision. Similarly, scene inputs may be shifted, reflected, translated, and/or the like before being input into the machine-learned model. The predictions may be associated with one or more objects in the environment that are represented in the scenes.
    Type: Grant
    Filed: August 4, 2021
    Date of Patent: January 30, 2024
    Assignee: ZOOX, INC.
    Inventor: Ethan Miller Pronovost
  • Patent number: 11884192
    Abstract: A vehicle seat comprises a controllable deformable material and control apparatus is provided for controlling the state of a controllable deformable material. The control apparatus is configured to generate a signal to cause a control element in proximity to the controllable deformable material to change the characteristic of the controllable deformable material and thereby change the state of the controllable deformable material. The controllable deformable material is controllable to change state from a first state to at least a second state and is controllable to change state from at least the second state to the first state, the controllable deformable material being more deformable per unit force in the second state than in the first state.
    Type: Grant
    Filed: April 28, 2022
    Date of Patent: January 30, 2024
    Assignee: Zoox, Inc.
    Inventors: Paul Choin, Anthony Iannone
  • Patent number: D1014358
    Type: Grant
    Filed: March 11, 2022
    Date of Patent: February 13, 2024
    Assignee: ZOOX, INC.
    Inventors: Alexander Kraus, Nahuel Elias Battaglia, Christl Cleblad-Earl, Herman Francisco Delos Santos, Andrew Bao An Nguyen, Richard Luke Osellame, Andrew David Rudd, Christopher John Stoffel
  • Patent number: D1015242
    Type: Grant
    Filed: April 13, 2022
    Date of Patent: February 20, 2024
    Assignee: ZOOX, INC.
    Inventors: Christopher John Stoffel, Nahuel Elias Battaglia, Christl Cleblad-Earl, Herman Francisco Delos Santos, Richard Luke Osellame, Andrew David Rudd