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1. 发明申请

US20230077909A1 ROAD NETWORK VALIDATION 有权
公开(公告)号：US20230077909A1
公开(公告)日：2023-03-16
申请号：US17476259
申请日：2021-09-15
申请人： Zoox, Inc.
发明人： Taylor Andrew Arnicar , Christopher James Gibson , Christopher Patton , Rohit Wadhwa
IPC分类号： B60W60/00 , G01C21/00 , G06N20/00
摘要： Techniques for generating and validating map data that may be used by a vehicle to traverse an environment are described herein. The techniques may include receiving sensor data representing an environment and receiving map data indicating a traffic control annotation. The traffic control annotation may be associated, as projected data, with the sensor data based at least in part on a position or orientation associated with a vehicle. Based at least in part on the association, the map data may be updated and sent to a fleet of vehicles. Additionally, based at least in part on the association the vehicle may determine to trust the sensor data more than the map data while traversing the environment.

2. 发明申请

US20230127185A1 DRIVABLE SURFACE MAP FOR AUTONOMOUS VEHICLE NAVIGATION 有权
公开(公告)号：US20230127185A1
公开(公告)日：2023-04-27
申请号：US17452006
申请日：2021-10-22
申请人： Zoox, Inc.
发明人： Byungil Jeong , Christopher James Gibson
IPC分类号： B60W60/00 , G01C21/00
摘要： The present disclosure is related to generating map data explicitly indicating a total drivable surface, which may include multiple types of drivable surfaces. For instance, a given portion of a map may include map data indicating a combination of various drivable surfaces, such as road segments, lane properties, intersections, parking areas, shoulders, driveways, etc. Examples of the present disclosure join these different types of drivable surfaces into combined map data that explicitly indicates a total drivable surface, such as a perimeter boundary indicating or representing a transition from a drivable surface to a non-drivable surface. The map data indicating the total drivable surface may be searched to determine information related to a drivable surface boundary, such as location and type. This boundary information may be used in various contexts, such as when planning a trajectory or remotely controlling a vehicle.

3. 发明申请

US20230126130A1 DRIVABLE SURFACE MAP FOR AUTONOMOUS VEHICLE NAVIGATION 有权
公开(公告)号：US20230126130A1
公开(公告)日：2023-04-27
申请号：US17452009
申请日：2021-10-22
申请人： Zoox, Inc.
发明人： Byungil Jeong , Christopher James Gibson
IPC分类号： G01C21/36 , G08G1/0968 , G06K9/00
摘要： The present disclosure is related to generating map data explicitly indicating a total drivable surface, which may include multiple types of drivable surfaces. For instance, a given portion of a map may include map data indicating a combination of various drivable surfaces, such as road segments, lane properties, intersections, parking areas, shoulders, driveways, etc. Examples of the present disclosure join these different types of drivable surfaces into combined map data that explicitly indicates a total drivable surface, such as a perimeter boundary indicating or representing a transition from a drivable surface to a non-drivable surface. The map data indicating the total drivable surface may be searched to determine information related to a drivable surface boundary, such as location and type. This boundary information may be used in various contexts, such as when planning a trajectory or remotely controlling a vehicle.

4. 发明授权

US11566912B1 Capturing features for determining routes 有权
公开(公告)号：US11566912B1
公开(公告)日：2023-01-31
申请号：US16904733
申请日：2020-06-18
申请人： Zoox, Inc.
发明人： Taylor Andrew Arnicar , Christopher James Gibson
IPC分类号： G01C21/34 , G08G1/0968 , G06F8/65 , B60W60/00 , G06V20/58
摘要： Techniques for determining a location and type of traffic-related features and using such features in route planning are discussed herein. The techniques may include determining that sensor data represents a feature such as a traffic light, road segment, building type, and the like. The techniques further include determining a cost of a feature, whereby the cost is associated with the effect of a feature on a vehicle traversing an environment. A feature database can be updated based on features in the environment. A cost of the feature can be used to update costs of routes associated with the location of the feature.

5. 发明授权

US11280630B2 Updating map data 有权
公开(公告)号：US11280630B2
公开(公告)日：2022-03-22
申请号：US16698366
申请日：2019-11-27
申请人： Zoox, Inc.
发明人： Christopher James Gibson , Kai Zhenyu Wang
IPC分类号： G01C21/36 , G06K9/00
摘要： Techniques are disclosed for updating map data. The techniques may include detecting a traffic light in a first image, determining, based at least in part on the traffic light detected in the first image, a proposed three-dimensional position of the traffic light in a three-dimensional coordinate system associated with map data. The proposed three-dimensional position may then be projected into a second image to determine a two-dimensional position of the traffic light in the second image and the second image may be annotated, as an annotated image, with a proposed traffic light location indicator associated with the traffic light. The techniques further include causing a display to display the annotated image to a user, receiving user input associated with the annotated images, and updating, as updated map data, the map data to include a position of the traffic light in the map data based at least in part on the user input.

6. 发明申请

US20210156704A1 UPDATING MAP DATA 有权
公开(公告)号：US20210156704A1
公开(公告)日：2021-05-27
申请号：US16698366
申请日：2019-11-27
申请人： Zoox, Inc.
发明人： Christopher James Gibson , Kai Zhenyu Wang
IPC分类号： G01C21/36 , G06K9/00
摘要： Techniques are disclosed for updating map data. The techniques may include detecting a traffic light in a first image, determining, based at least in part on the traffic light detected in the first image, a proposed three-dimensional position of the traffic light in a three-dimensional coordinate system associated with map data. The proposed three-dimensional position may then be projected into a second image to determine a two-dimensional position of the traffic light in the second image and the second image may be annotated, as an annotated image, with a proposed traffic light location indicator associated with the traffic light. The techniques further include causing a display to display the annotated image to a user, receiving user input associated with the annotated images, and updating, as updated map data, the map data to include a position of the traffic light in the map data based at least in part on the user input.

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