Drive envelope determination

US10937320B2 · kind B2 · utility

Assignee

• Zoox, Inc. · US

Inventors

• Timothy Caldwell · Mountain View, US
• Dan Xie · Santa Clara, US
• William Anthony Silva · San Rafael, US
• Abishek Krishna Akella · Pleasanton, US
• Jefferson Bradfield Packer · San Francisco, US
• Rick Zhang · San Mateo, US
• Marin Kobilarov · Baltimore, US

Key dates

• Filing date: Mar 27, 2020
• Grant date: Mar 2, 2021
• Expiry date: Mar 27, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2554/402
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Drive envelope determination is described. In an example, a vehicle can capture sensor data while traversing an environment and can provide the sensor data to computing system(s). The sensor data can indicate agent(s) in the environment and the computing system(s) can determine, based on the sensor data, a planned path through the environment relative to the agent(s). The computing system(s) can also determine lateral distance(s) to the agent(s) from the planned path. In an example, the computing system(s) can determine modified distance(s) based at least in part on the lateral distance(s) and information about the agents. The computing system can determine a drive envelope based on the modified distance(s) and can determine a trajectory in the drive envelope.