Zoox, Inc.

George Dalman Nelson, Iii

Jacob Avi Harper

Subasingha Shaminda Subasingha

Josh Alexander Jimenez

Michael Moshe Kohen

Jeremy Yi-Xiong Yang

Forrest Leighton Merrill

Turhan Karadeniz

Robert Nicholas Moor

Daniel Glenn Johnson

Andrew E Beller

Kevin Mark Karol

Shaminda Subasingha

Miguel Alexander Espinal

Lowell Ray Pickett

A vehicle computing system may implement techniques to emit warning sounds from a vehicle to notify other entities in an environment with the vehicle of the vehicle operation. A vehicle computing system may be configured to emit warning sounds based on a speed associated with the vehicle. The vehicle computing system may determine a planned vehicle trajectory and that a speed corresponding to the planned vehicle trajectory is associated with the warning sound emission. The vehicle computing system may determine a time that the vehicle will be at the speed and may emit the warning sound substantially at the time. In some examples, the vehicle computing system may emit a different sound prior to the time and may transition to the warning sound associated with the speed at the time. By warning other entities of the vehicle operation, the warning sound emission system may improve the safety of vehicle operation.

Vehicle warning signal emission

A vehicle mounted sensor assembly includes a frame and a cover connected to the base. When assembled, the frame and the cover define a volume that is divided between a first cavity and a second cavity. A sensor is disposed in the first cavity and one or more antennas are disposed in the second cavity.

Vehicle-mounted sensor and antenna assembly

Techniques for using beam-formed acoustic notifications for pedestrian notification are described. Computing device(s) can receive sensor data associated with an object in an environment of a vehicle. The computing device(s) can determine first data for emitting a first beam of acoustic energy via speaker(s) of an acoustic array associated with the vehicle, and second data for emitting a second beam of acoustic energy via speakers of the acoustic array. The computing device(s) can cause the speaker(s) to emit the first beam in a direction of the object at a first time and the second beam in the direction of the object at a second time. Directions of propagation of the first beam and the second beam are offset so that the object can localize the source the acoustic notification, thereby localizing the vehicle in the environment.

Acoustic notifications

Techniques for using acoustic notifications output via a multi-channel speaker configuration for pedestrian notification are described. Computing device(s) can determine a plurality of signals for dynamically emitting a plurality of sounds via a plurality of speakers associated with an acoustic array disposed on a vehicle. Each signal of the plurality of signals can be emitted from speaker(s) of the plurality of speakers that is/are associated with a particular channel of a plurality of channels. Furthermore, the computing device(s) can cause a portion of the plurality of speakers to dynamically emit the plurality of sounds so that the plurality of sounds are spatialized across the at least one surface of the vehicle. As a result, a pedestrian proximate the vehicle can localize the vehicle as a source of the acoustic notification and perceive a size, or other geometric characteristic, of the vehicle.

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San Francisco, CA, United States of America

George Dalman Nelson, Iii