The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 10, 2024
Filed:
Feb. 11, 2022
Applicant:
Zoox, Inc., Foster City, CA (US);
Inventor:
Marin Kobilarov, Baltimore, MD (US);
Assignee:
Zoox, Inc., Foster City, CA (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B60W 60/00 (2020.01); B60W 50/00 (2006.01); G01C 21/34 (2006.01);
U.S. Cl.
CPC ...
B60W 60/001 (2020.02); B60W 50/0097 (2013.01); G01C 21/3453 (2013.01); B60W 2520/00 (2013.01); B60W 2552/53 (2020.02); B60W 2556/50 (2020.02);
Abstract
Generating a lane reference from a roadway shape and/or generating a trajectory for controlling an autonomous vehicle may include determining a predicted state of the lane reference and/or a candidate trajectory by an integrator. The disclosed integrator is implemented as a numerical integrator in predominantly closed-form that is able to avoid singularities while maintaining no approximation error. The disclosed integrator is also more robust to poor initial estimations, high curvature roadways, and zero-velocity conditions.