US 12,180,766 B1Granted

Multiplane object detection

AssigneeZoox, Inc.

InventorsWilliam Edward Cheringal, Andrew Allen Haskin, Connor Joseph Kafka, Da Liu

Life of this patent

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Abstract

Techniques for managing the doors of a vehicle are discussed herein. In some examples, a vehicle may have one or more doors configured to open and close. The doors may include one or more sensor devices located along the inside edges of the doors. The sensor devices may be configured to capture sensor data of a region between the doors. In some instances, the vehicle may have a door frame that may define a door aperture when the vehicle doors are in a non-closed state. The door frame may include one or more sensor devices located along an edge portion of the door frame. Such sensor devices may capture sensor data of the region within the door aperture. In such instances, a second plane (e.g., defined by the door frame) may be interior to a first plane (e.g., defined by the doors) relative to the vehicle.

Claims20

Dependent claims

A vehicle comprising:

a first door and a second door that are laterally adjacent and configured to move along non-linear paths;
a first emitter device coupled to the first door, the first emitter device configured to emit a first signal;
a first sensor device coupled to the second door, the first sensor device configured to detect the first signal, wherein the first emitter device and the first sensor device are associated with a first plane;
a door frame defining a door aperture, the first door and the second door being disposed in the door frame when in a closed state;
a second emitter device coupled to the door frame and configured to emit a second signal;
a second sensor device coupled to the door frame, the second sensor device configured to detect the second signal, wherein the second emitter device and the second sensor device are associated with a second plane that is interior to the first plane;
and
an object detection system configured to detect an object intersecting the first plane or the second plane, wherein the object detection system is configured to determine a direction of travel associated with the object.

5 more elements

One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

receiving, by a first sensor device associated with a door or a door frame of a vehicle, a first signal, wherein the first sensor device is associated with a first plane;
receiving, by a second sensor device associated with the door or the door frame of the vehicle, a second signal, wherein the second sensor device is associated with a second plane that is different to the first plane, wherein the second plane is interior to the first plane;
detecting, based at least in part on the first signal or the second signal, an object intersecting at least one of the first plane or the second plane;
determining a direction of travel associated with the object;
determining a state of the door;
determining, based at least in part on the state and the direction of travel, an action for the door;
and
controlling the door based at least in part on the action.

5 more elements

A method comprising:

receiving, by a first sensor device associated with a door or a door frame of a vehicle, a first signal, wherein the first sensor device is associated with a first plane;
receiving, by a second sensor device associated with the door or the door frame of the vehicle, a second signal, wherein the second sensor device is associated with a second plane that is different to the first plane, wherein the second plane is interior to the first plane;
detecting, based at least in part on the first signal or the second signal, an object intersecting at least one of the first plane or the second plane;
determining a direction of travel associated with the object;
determining a state of the door;
determining, based at least in part on the state and the direction of travel, an action for the door;
and
controlling the door based at least in part on the action.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/103,954Filed 31 Jan 2023
Granted: 31 Dec 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

E05F 15/40
Power-operated mechanisms for wings: safety devices, e.g. detection of obstructions or end positions
E05F 15/43
Detection using safety edges: responsive to disruption of energy beams, e.g. light or sound
B60J 5/0479
With two doors opening in opposite direction: without B-pillar or releasable B-pillar, i.e. the pillar is moving with door
E05Y 2400/44
Electronic control: sensors not directly associated with the wing movement

Family

No related US applications are recorded in the indexed filing history.

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