US 11,904,848 B2
Low-energy impact collision detection
Marina Camille Josephs, San Jose, CA (US); Mark Alan Bates, Kenilworth (GB); Nam Gook Cho, Cupertino, CA (US); Subhasis Das, Menlo Park, CA (US); Markus Jost, San Mateo, CA (US); Amanda Brown Prescott, Half Moon Bay, CA (US); Valerie Bumbaca Randolph, Fremont, CA (US); and Subasingha Shaminda Subasingha, San Ramon, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Apr. 30, 2021, as Appl. No. 17/245,963.
Prior Publication US 2022/0348192 A1, Nov. 3, 2022
Int. Cl. B60W 30/08 (2012.01); G08G 1/16 (2006.01); G01B 7/16 (2006.01); B60W 60/00 (2020.01); G01V 1/00 (2006.01)
CPC B60W 30/08 (2013.01) [B60W 60/0015 (2020.02); G01B 7/18 (2013.01); G01V 1/001 (2013.01); G08G 1/166 (2013.01); B60W 2030/082 (2013.01); B60W 2420/54 (2013.01)] 20 Claims
OG exemplary drawing
 
14. A vehicle comprising:
a first system of a first sensor modality comprising impact sensors configured to generate first data associated with the vehicle;
a second system of a second sensor modality comprising audio sensors configured to generate second data associated with the vehicle;
one or more processors; and
one or more computer-readable media storing instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving the first data;
determining, based at least in part on the first data, a first estimated location of impact, the first estimated location of impact being expressed in a first spatial grid characterized by a first cell size;
receiving the second data;
determining, based at least in part on the second data, a second estimated location of impact, the second estimated location of impact being expressed in a second spatial grid characterized by a second cell size larger than the first cell size;
determining, based at least in part on the first estimated location corresponding to the second estimated location, an impact event associated with the vehicle; and
controlling the vehicle based at least in part on the impact event.