Patents by Inventor Collin MacGregor
Collin MacGregor has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11378962Abstract: A method and apparatus for selecting among a plurality of trajectories comprises receiving at least a first and second trajectory, each having an associated level in a trajectory hierarchy, determining whether the first trajectory is viable, determining a present level limit for trajectory selection, and if the first trajectory is viable and its level does not exceed the present level limit, executing the first trajectory. If the first trajectory is not viable or the associated level of the first trajectory exceeds the present level limit, the second trajectory is executed if it is viable and its associated level does not exceed the present level limit. A state variable is set such that when a trajectory lower in a trajectory hierarchy is executed, a trajectory selector waits for a message from a monitor or an operator before returning to the use of higher level trajectories.Type: GrantFiled: July 22, 2019Date of Patent: July 5, 2022Assignee: Zoox, Inc.Inventors: Collin MacGregor, Sy Kelly Olson, Jefferson Bradfield Packer
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Patent number: 11305747Abstract: Methods and systems for controlling the parking brakes of a vehicle are provided. The system comprises a first brake unit; a second brake unit; a third brake unit; a fourth brake unit; a first controller powered by a first power source; a second controller powered by a second power source and communicatively coupled to the first controller via a first and second communication link; and a third controller powered by the first power source and communicatively coupled to the first controller via a third communication link and to the second controller via a fourth communication link, wherein the second controller, based at least in part on a signal received from the first controller, operates the first brake unit and the fourth brake unit, and the third controller, based at least in part on the signal received from the first controller, operates the second brake unit and the third brake unit.Type: GrantFiled: November 27, 2019Date of Patent: April 19, 2022Assignee: Zoox, Inc.Inventors: Clement Ching-Fai Lee, Collin MacGregor, Aaron Rosekind
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Publication number: 20220009407Abstract: A lighting system of a vehicle may include light units and controllers for operating the light units. Each light unit is multifunctional in that the light unit may operate in various modes, which may be invoked at different times under varying circumstances. A light unit on the first end of a vehicle may operate as a headlight if the first end is the front end of the vehicle. On the other hand, the light unit may operate as a tail light if the first end is the rear end of the vehicle. Furthermore, the light unit may operate as a turn signal in either direction or brake light while the first end is the rear end of the vehicle. The light unit includes a lens array positioned to receive light from various light sources. The lighting system may operate in a fashion that allows for lighting redundancy on each end of the vehicle in the event of a lighting controller failure.Type: ApplicationFiled: September 27, 2021Publication date: January 13, 2022Inventors: Moritz Boecker, Chang Gi Samuel Hong, Collin MacGregor
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Patent number: 11180156Abstract: The described techniques relate to coordinating and managing faults of systems of a vehicle, such as an autonomous vehicle, to enable the vehicle to respond safely and appropriately to the faults. In examples, a centralized fault monitor system receives faults from different vehicle systems, maps the received faults to associated fault constraints, prioritizes different and shared parameters between the fault constraints, and communicates the constraint parameters to appropriate vehicle systems accordingly.Type: GrantFiled: December 17, 2019Date of Patent: November 23, 2021Assignee: Zoox, Inc.Inventors: Matthew Daniel Lopez, Collin MacGregor, Radhika Jitendra Patel, Derek Redfern, Kristofer Sven Smeds
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Patent number: 11181922Abstract: Autonomous vehicles use accurate and detailed maps for navigation. Expanding functionality of an autonomous vehicle to a new, e.g., unmapped, region can include determining drivable surface segments of the new region and comparing the segments to segments or classes of segments from an already-mapped region. Segments of the new region that are similar to segments from the mapped region can be identified as potentially navigable. An autonomous vehicle can travel through the new region via those segments indicated as navigable. In addition, during travel through the new region, data may be collected using sensors on the autonomous vehicle to map additional portions of the region and/or confirm a driving ability in the new region. Functionality of an autonomous vehicle may be limited based on how similar the segments are to one another.Type: GrantFiled: March 29, 2019Date of Patent: November 23, 2021Assignee: Zoox, Inc.Inventors: Andreas Christian Reschka, Collin MacGregor
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Patent number: 11173829Abstract: A lighting system of a vehicle may include light units and controllers for operating the light units. Each light unit is multifunctional in that the light unit may operate in various modes, which may be invoked at different times under varying circumstances. A light unit on the first end of a vehicle may operate as a headlight if the first end is the front end of the vehicle. On the other hand, the light unit may operate as a tail light if the first end is the rear end of the vehicle. Furthermore, the light unit may operate as a turn signal in either direction or brake light while the first end is the rear end of the vehicle. The light unit includes a lens array positioned to receive light from various light sources. The lighting system may operate in a fashion that allows for lighting redundancy on each end of the vehicle in the event of a lighting controller failure.Type: GrantFiled: May 9, 2019Date of Patent: November 16, 2021Assignee: Zoox, Inc.Inventors: Moritz Boecker, Chang Gi Samuel Hong, Collin MacGregor
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Publication number: 20210179127Abstract: The described techniques relate to coordinating and managing faults of systems of a vehicle, such as an autonomous vehicle, to enable the vehicle to respond safely and appropriately to the faults. In examples, a centralized fault monitor system receives faults from different vehicle systems, maps the received faults to associated fault constraints, prioritizes different and shared parameters between the fault constraints, and communicates the constraint parameters to appropriate vehicle systems accordingly.Type: ApplicationFiled: December 17, 2019Publication date: June 17, 2021Inventors: Matthew Daniel Lopez, Collin MacGregor, Radhika Jitendra Patel, Derek Redfern, Kristofer Sven Smeds
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Publication number: 20210179121Abstract: The described techniques relate to coordinating and managing faults of systems of a vehicle, such as an autonomous vehicle, to enable the vehicle to respond safely and appropriately to the faults. In examples, a centralized fault monitor system receives faults from different vehicle systems, maps the received faults to associated fault constraints, prioritizes different and shared parameters between the fault constraints, and communicates the constraint parameters to appropriate vehicle systems accordingly.Type: ApplicationFiled: December 17, 2019Publication date: June 17, 2021Inventors: Matthew Daniel Lopez, Collin MacGregor, Radhika Jitendra Patel, Derek Redfern, Kristofer Sven Smeds
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Publication number: 20210046923Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.Type: ApplicationFiled: August 13, 2019Publication date: February 18, 2021Inventors: Sy Kelly Olson, Collin MacGregor, Jefferson Bradfield Packer, Andreas Christian Reschka
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Publication number: 20210048818Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.Type: ApplicationFiled: August 13, 2019Publication date: February 18, 2021Inventors: Joseph Funke, Sy Kelly Olson, Collin MacGregor, Andreas Christian Reschka
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Publication number: 20210048817Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.Type: ApplicationFiled: August 13, 2019Publication date: February 18, 2021Inventors: Sy Kelly Olson, Collin MacGregor, Jefferson Bradfield Packer, Janek Hudecek
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Publication number: 20210046926Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.Type: ApplicationFiled: August 13, 2019Publication date: February 18, 2021Inventors: Sy Kelly Olson, Collin MacGregor, Jefferson Bradfield Packer, David Martins Belo, Joseph Funke
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Publication number: 20210026359Abstract: A method and apparatus for selecting among a plurality of trajectories comprises receiving at least a first and second trajectory, each having an associated level in a trajectory hierarchy, determining whether the first trajectory is viable, determining a present level limit for trajectory selection, and if the first trajectory is viable and its level does not exceed the present level limit, executing the first trajectory. If the first trajectory is not viable or the associated level of the first trajectory exceeds the present level limit, the second trajectory is executed if it is viable and its associated level does not exceed the present level limit. A state variable is set such that when a trajectory lower in a trajectory hierarchy is executed, a trajectory selector waits for a message from a monitor or an operator before returning to the use of higher level trajectories.Type: ApplicationFiled: July 22, 2019Publication date: January 28, 2021Inventors: Collin MacGregor, Sy Kelly Olson, Jefferson Bradfield Packer
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Publication number: 20200310450Abstract: Autonomous vehicles use accurate and detailed maps for navigation. Expanding functionality of an autonomous vehicle to a new, e.g., unmapped, region can include determining drivable surface segments of the new region and comparing the segments to segments or classes of segments from an already-mapped region. Segments of the new region that are similar to segments from the mapped region can be identified as potentially navigable. An autonomous vehicle can travel through the new region via those segments indicated as navigable. In addition, during travel through the new region, data may be collected using sensors on the autonomous vehicle to map additional portions of the region and/or confirm a driving ability in the new region. Functionality of an autonomous vehicle may be limited based on how similar the segments are to one another.Type: ApplicationFiled: March 29, 2019Publication date: October 1, 2020Inventors: Andreas Christian Reschka, Collin MacGregor