Zoox, Inc.

Taylor Scott Clawson

Brian Michael Filarsky

Sy Kelly Olson

Leonardo Poubel Orenstein

Shayan Darayan

Collision avoidance and error determination for a component of an autonomous vehicle comprising receiving a first trajectory, such as to return a vehicle to an intended trajectory, that a vehicle is predicted to follow, based on an offset between the vehicle and a second trajectory associated with the vehicle, such as a reference trajectory. The first trajectory predicts a first movement characteristic (e.g., a position) of the vehicle at a point in time. A second movement characteristic is received, representing an actual movement characteristic of the vehicle at that point in time. A first error between the first and second movement characteristics is determined. Based at least in part on the first error, performance of a model for generating trajectories that a vehicle is predicted to follow is validated.

Tracker trajectory validation

Techniques for validating operation of vehicle safety system components are discussed herein. Vehicle log data processed by components of secondary systems of vehicles traversing an environment can be received which may include event metrics or be indicative of events (such as an implementation of a safety response). Such metrics may be defined by algorithm output continuity data, algorithm output feasibility data, and/or algorithm output tracking data. The log data can be utilized to test candidate safety systems to determine test event metrics. Validation of the candidate safety system components can be performed based on aggregated event metrics (such as aggregated over a fleet) meeting various criteria.

Safety component validation and update management

Techniques are discussed herein for generating, evaluating, and determining trajectories for autonomous vehicles traversing environments. A state transition model may be generated and used to determine a trajectory from multiple possible trajectories generated by one or more vehicle systems. In some examples, a state transition model may determine a trajectory based on the validation results of the possible trajectories, along with vehicle status data from one or more vehicle components. Various techniques described herein may improve vehicle safety and driving efficiency, by ensuring that the vehicle determines a safe and valid trajectory consistently while navigating the environment, while also being responsive to requests and status updates from various vehicle components.

Autonomous vehicle trajectory determination based on state transition model

Techniques for procedurally generating scenarios that verify and validate predictions from or operation of a vehicle safety system are discussed herein. Sensors of a vehicle may detect one or more objects in the environment. A model may determine intersection values indicative of probabilities that the object will intersect with a trajectory of the vehicle. A vehicle may receive one or more intersection values from a model usable by a computing device to validate a prediction from a vehicle safety system.

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Castro Valley, CA, United States of America

Taylor Scott Clawson