INTRODUCTION / LETTER FROM AICHA & JESSE

At Zoox, safety is foundational;
it underlies everything we do.
In December 2020, after six years of development, we publicly revealed our purposebuilt autonomous vehicle, which includes more than 100 safety innovations that do
not exist in today’s conventional cars. We showcased our vehicle driving on the streetsof San Francisco and our test track. It is not just a concept or prototype design; it
actually works.
Autonomous mobility heralds a profound transition for our society, one that is as
significant as the shift from horse-drawn carriages to automobiles. To realize thepotential of autonomy, we have reimagined passenger mobility by building a vehicle
from the ground up—designed for riders, not drivers. Our vehicle is fully autonomous,
all electric, and bidirectional. It features carriage seating with all four seats facing
inwards, uses four-wheel steering and driving, and perceives the world from optimallyplaced sensors. This unique design will make getting around cities more enjoyable,
sustainable, and safe.
Our first safety report, “Safety Innovation at Zoox | Setting the Bar for Safety inAutonomous Mobility,“ which was published in 2018, covered our safety philosophy andfocused mostly on our test fleet of hybrid Toyota Highlanders, including our approach
to software and hardware testing. This second report continues the conversation,
focusing on how we’ve designed and incorporated many safety innovations into our
purpose-built vehicle.
This report also charts our efforts to evolve the automotive industry’s current reactive
safety approach to one that is proactive. Future reports will highlight the software andartificial intelligence functions that drive our vehicle, and introduce the operationalsafety efforts that will support trustworthy and reliable service on public roads.
Safety remains at the forefront of our efforts. It will define the success of autonomousvehicles. We hope this report helps to advance our nascent industry, and we lookforward to the day when everyone can enjoy a Zoox ride.

Aicha Evans
Chief Executive Officer

INTRODUCING ZOOX SAFETY INNOVATIONS

Jesse Levinson, Ph.D.
Co-Founder & Chief Technology Officer2

INTRODUCTION / LETTER FROM MARK ROSEKIND

Zoox intends to set the bar for safety in autonomous mobility.
We know that autonomous vehicle technology presents an unprecedented opportunity
to save lives, reduce injuries, and minimize crashes on our roadways. But fully realizingthese potential benefits necessitates a paradigm shift from reactive to proactive
safety. For over 100 years, automotive safety has been reactive: i.e., we wait until
there is a crash, injury, or death before we look for a solution.
Data from the National Highway Traffic Safety Administration (NHTSA) shows that 94%
of crashes are caused by human choice or error. Most of these crashes are preventable
or avoidable, yet in 2020 alone, 38,680 people lost their lives on U.S. roadways. 1 Globally,
car crashes take the lives of 1.35 million people each year—that is more than 3,000
deaths a day. 2 We should not accept these casualties as the cost of mobility.
As a society, we can do better.
At Zoox, safety is foundational, and our safety philosophy is made up of two distinct
pillars: “Prevent and Protect.” The ultimate proactive safety strategy is to prevent
incidents from occurring in the first place, so we analyze potential safety risks andaddress them before they happen. Our vehicles also protect riders and other road users
with an array of safety innovations—for example, we intend to provide the equivalentof a five-star safety rating for every occupant in a Zoox vehicle.
The safety innovations featured in this report reflect our commitment to setting thebar for safety in autonomous mobility.

Mark R. Rosekind, Ph.D.
Chief Safety Innovation Officer
Former Administrator of the National Highway Traffic Safety Administration (NHTSA)Former Member of the National Transportation Safety Board (NTSB)

1 “2020 Fatality Data Show Increased Traffic Fatalities During Pandemic” National Highway Traffic Safety Administration https://www.nhtsa.gov/
press-releases/2020-fatality-data-show-increased-traffic-fatalities-during-pandemic
2 “Road Traffic Injuries” World Health Organization
https://www.who.int/news-room/fact-sheets/detail/road-traffic-injuries

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Contents

Overview 05

No single point of failure 14● Recap● Redundant steering and driving controls● Mission● Fail-operational power supply keeps ourvehicles moving● Vision

Zoox vehicle safety
innovations 09● Introduction● Vehicle self-diagnostics: comprehensive
safety monitoring

Rider protection 19● Equivalent safety for each rider● Reimagining the airbag for a new kindof vehicle● Seat belts: a new take on a classic
life-saving tool

Driving control 10

Moving forward 25● Shorter stopping distances means
safer braking● Conclusion● Four-wheel steering and control are
all about precision● Bidirectional: no back or front

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Zoox safety report 1.0: a recap
A lot has happened since we published our first safety report in 2018, but thefundamentals haven’t changed. Zoox is building an all-electric, one-of-a-kindautonomous vehicle, an AI software stack to make it drive, and the mobility service
it will enable. Our Prevent and Protect safety strategy consists of analyzing potential
safety risks to prevent incidents from occurring in the first place and deploying
innovative safety tools and traditional protections to minimize harm if an incident
does occur.
Our autonomous vehicles use a localization and mapping system to know exactly
where they are at all times, and they navigate the world using a physical sensor suiteand sophisticated autonomous driving software. Our sensor suite includes multiple
cameras, lidar (Light Detection and Ranging) sensors, and radar (Radio Detection
and Ranging) sensors that create a 360-degree, overlapping, and redundant field ofview. These sensors provide the data that our autonomous driving software uses toaccurately perceive the vehicle’s surroundings, predict the behavior of other road
users, plan a path, and control the vehicle.
Our design objective is for our vehicles to be free of any single point of failure froma safety perspective. So we’ve designed a number of innovative and redundant featuresthat allow the vehicles to continue to operate safely even if certain safety systems
become unavailable. We rigorously test and validate our autonomous driving technology
to ensure safe operations within our operational design domain (ODD). Before tires ever
hit pavement, we test our autonomous technology via simulation and an integrated
hardware/software system affectionately called LabBot.

INTRODUCING ZOOX SAFETY INNOVATIONS

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SUMMARY

Then we test on closed tracks and private roads before moving into the final stage: realworld testing on public roads. Each of these tests contribute to a continuous feedback
loop, ensuring that our vehicles are constantly learning and operating at the highest
level of safety. Human operators provide ongoing safety oversight for all testing andstand by to assist if a vehicle encounters an unknown situation that needs
human intervention.
We engage with stakeholders who are likely to interact with our vehicles on the road or
who could benefit from our autonomous technology. For example, Zoox is working withlaw enforcement and first responders to develop an integrated education and training
program about autonomous technology and specifics of our vehicle. We also workwith a diverse group of advocacy organizations to design features that will improveaccessibility, inclusivity, and ease of use for passengers.

Our Prevent and Protect safety strategy
consists of analyzing potential safety risks
to prevent incidents from occurring anddeploying innovative safety tools to minimize
harm if an incident does occur.

INTRODUCING ZOOX SAFETY INNOVATIONS6ZOOX OVERVIEW

MissionZoox was founded in 2014 to makepersonal transportation safer, cleaner,and more enjoyable—for everyone.

Fully autonomous

INTRODUCING ZOOXINTRODUCINGZOOX SAFETY
SAFETY INNOVATIONSINNOVATIONS

All-electric

Designed for riders, not drivers

7

ZOOX OVERVIEW

VisionWe’re reinventing
personal transportation

GROUND-UP AUTONOMYSAFER STREETS
94% of all U.S. crashes are causedby human error. Removing thesemistakes will save thousands of lives.

Zoox isn’t an updated car—it’s awhole new form of transportation.
With every detail designed aroundriders, not drivers.

FEWER CARS, LESS POLUTIONJOURNEYS TO ENJOY

Our shared fleet of all-electric Zoox
vehicles will reduce congestion andpollution in our cities.

No driving means less stress—andmore time to get things done in a
spacious, comfortable cabin.

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Zoox vehicle
safety innovations

01/

Driving control02/

No single pointof failure

03/

Rider protection

INTRODUCING ZOOX SAFETY INNOVATIONS

Complementing the December 2020 reveal of our purposebuilt vehicle, this Safety Report 2.0 will illustrate some of thesafety innovations in this next generation design.
A safety innovation is a novel feature intended to prevent
crashes or protect vehicle occupants and other road
users. We have designed over 100 safety innovations toimprove safety in ridesharing, the automotive industry, andautonomous vehicles. Here we detail a sampling of thesesafety innovations across three categories: “driving control,”“no single point of failure,” and “rider protection.” Driving
control and no single point of failure are proactive safety
innovations to prevent incidents from occurring in the firstplace. With rider protection, if an incident does occur, ourvehicle will deploy traditional protections as well as new
safety tools to minimize harm.
901 / DRIVING CONTROL

01/

Driving control
Shorter stopping distances means safer braking
Four-wheel steering and control are all about precision
Bidirectional: no back or front

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01 / DRIVING CONTROL

Shorter stopping distances means safer braking

Highlighted are both the independent braking system and active suspension.

The Zoox vehicle has a unique safety-focusedbraking and active suspension system that helps it
avoid potential crashes and minimize the impact of
unavoidable collisions. This system is made possibleby the independence of the vehicle’s four wheels,
each of which can adjust to driving conditions andreact accordingly.
Like most new vehicles today, the Zoox vehicle canadjust each wheel’s anti-lock brake system to increasestability and traction. Our innovation builds on thisfunction with electronic control units that manage eachwheel’s suspension, meaning our vehicle can adjust rideheight and spring stiffness, add stability for turns, andquickly compensate for road conditions like bumps.
The independence of these controls makes the
traditional live axles that link left and right wheels
together unnecessary.

INTRODUCING ZOOX SAFETY INNOVATIONS

Together, our independent braking and active
suspension systems create better tire traction andweight distribution, which translates to more braking
control and shorter stopping distances. These features
give Zoox vehicles more time to react and perform safety
maneuvers when needed.
In addition to improving safety, the independent braking
and active suspension systems provide greater ride
comfort. For example, if one wheel hits a pothole,
our vehicle can compensate for the impact so thatpassengers hardly even notice a bump.
These systems also cooperate with our fully automatedregenerative braking system that improves performance
while charging our vehicle’s batteries.

11

01 / DRIVING CONTROL

Four-wheel steering and control
are all about precision

One of our vehicle’s unique attributes is its ability toindividually control the speed, power, and directionof all four wheels. Four-wheel steering enables more
precise control on the road, whether the vehicle
needs to stay inside a driving lane or avoid an
obstacle. We have also customized the physicalsteering racks and their control algorithms fordramatically superior precision. Together, these
innovations enable unprecedented accuracy invehicle control, which represents a fundamental
improvement in safety—especially in dense
urban environments.
The upshot of this technological breakthrough isthat each time our driving software calculates a path,
the physical hardware and control algorithms on thevehicle ensure that it does not deviate more thana few centimeters from the desired trajectory—even
when taking curves at speed.
The Zoox vehicle is the first automobile withcomprehensive four-wheel steering capability.
INTRODUCING ZOOX SAFETY INNOVATIONS

While vehicles like large fire trucks have some rearsteering capabilities, they are typically only able to
make slight adjustments. Vehicles that steer with
only the front wheels must take lateral offset into
account and compromise between heading andposition adjustments. The Zoox vehicle can do both
independently, meaning it can adjust where it is headed
while simultaneously adjusting its position within thelane.
Four-wheel steering also enables tighter turns anddriving maneuvers other vehicles cannot manage. For
example, the Zoox vehicle can access smaller loadingzones and tighter spaces than typical cars, so it can get
riders closer to the curb and more quickly enter and exit
traffic and bike lanes.
Beyond the safety benefits of precise four-wheel
steering and control, these innovations also translate
into greater comfort and convenience for riders—thecarriage is almost like a gentle turntable that glides
smoothly through lane changes and turns.
12

02 / NO SINGLE POINT OF FAILURE

02/

No single point of failure
Redundant steering and driving controls
Fail-operational power supply keeps our vehicles moving
Vehicle self-diagnostics: comprehensive safety monitoring

INTRODUCING ZOOX SAFETY INNOVATIONS

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02 / NO SINGLE POINT OF FAILURE

Redundant steering and driving controls

Highlighted are the steering gears.

Our vehicle is engineered
with the design objective
to eliminate single pointsof failure in safety-criticalsystems.

Redundant systems ensure that our vehicles can safely
and effectively operate no matter what happens on theroad. Our vehicle is engineered with the design objective
to eliminate single points of failure in safety-criticalsystems. Even if confronted with a major system failure,
our vehicles can continue to operate with safe limited
abilities, navigate to an appropriate place to stop, orcome to a quick emergency stop. This approach to ourvehicle architecture draws inspiration from aviationlevels of safety, and Zoox is the first to apply them toautomotive design.
The Zoox vehicle has two batteries and two separate
powertrains with drive motors. The two powertrains
typically act together, but the vehicle can operate using
only one if necessary. For example, our vehicle normallysteers with both the front and back wheels, but if
steering for one end of the vehicle fails, the other will

INTRODUCING ZOOX SAFETY INNOVATIONS

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02 / NO SINGLE POINT OF FAILURE

still be able to drive the vehicle safely. All four parts ofthis drive system are wired together, so either battery
can power either drivetrain and motor. For example, if
the front battery and rear motor fail, the rear battery andfront motor will still work together and allow the vehicle
to move.
Our braking system is also built to be resilient. Eachof the two separate electronic control units thatmanage the braking system can work on its own.
We’ve also added a third level of redundancy with
an electronic parking brake managed by a separate
system that can be activated to bring the vehicle toa stop in an emergency.

INTRODUCING ZOOX SAFETY INNOVATIONSFAIL-SAFE VS. FAIL-OPERATIONAL
In safety and engineering disciplines, a system ordevice is generally considered fail-safe when, in theevent of a problem, it is able to ensure that no damage
is done to the device, the users, or the surrounding
environment. A device or system is considered failoperational when it is not only safe, but can continue
to function, even when facing multiple problems.
We’ve incorporated fail-safe responses throughout
the vehicle, but at Zoox, our aspiration is to be failoperational as much as possible. We work to ensurethat our vehicle can deliver riders to their destination
safely by switching to a back-up system.

16

02 / NO SINGLE POINT OF FAILURE

Fail-operational power supply keeps ourvehicles moving

Dual batteries equip Zoox vehicles with the power to drive all day and ensurea backup power supply.

The all-electric Zoox vehicle is powered by a failoperational high-voltage battery system that allows
the vehicle to either continue operating safely or cometo a safe stop if it experiences a system fault. Thisbattery system is larger than virtually any other on themarket, and it keeps our vehicle running all day on asingle charge.
Our battery system consists of two separate but
connected batteries, one on each side of the vehicle
beneath the passenger seats. When operating normally,
these two batteries function in parallel, behaving like asingle battery. The power generated by the high-voltage
battery system is directed through power converters
on both sides of the vehicle and converted into a lower
voltage that powers all of the vehicle’s systems—
including safety-critical systems such as steeringand braking.

INTRODUCING ZOOX SAFETY INNOVATIONSThis battery architecture makes the vehicle’s
power system tolerant of single-point failures inseveral important ways: If one high-voltage battery
malfunctions, it can decouple itself from the rest of thesystem, and the other operational high-voltage battery
will continue to power all systems with no loss in vehicle
function. This mitigation will allow the vehicle to safely
complete its journey or plan an alternate route and thenreturn to base for servicing.
In the very unlikely event that both high-voltage
batteries fail or both converters malfunction, thetwo 12-volt battery packs provide an additional layerof redundancy and ensure that the vehicle can pull over
into a safe location and still turn on hazard lights andopen doors.

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02 / NO SINGLE POINT OF FAILURE

Vehicle self-diagnostics: comprehensive
safety monitoring

The Zoox vehicle isequipped with a robot
monitor that maintains
a global view of the healthof all its various partsand systems.

When a sensor degradation or failure is noted, the robot
monitor will respond and mitigate the effects by doing
any or all of the following:This monitoring system goes far beyond a typicalcar’s check engine light; it can precisely detect
fault-states across the vehicle’s hardware, software,and firmware, and manage them using the many
redundant systems that make up the vehicle’s
software and hardware architecture.

The robot monitor itself has a redundant architecture
distributed across multiple systems. There is an Executive
Motion Unit (EMU) and a Backup Motion Unit (BMU), bothof which are considered high-integrity hardware—i.e., they
have very high expected uptime and an extremely low
likelihood of undetected failure—and each is capableof coordinating all necessary steering and speedfunctions via separate power systems. The EMU and
BMU are redundant and constantly monitor each otherfor failures.

For example, using a suite of redundant sensor
monitoring systems, the robot monitor can determine
if a specific sensor has degraded performance—
this could be caused by an internal failure or someenvironmental factor like debris or damage.
INTRODUCING ZOOX SAFETY INNOVATIONS●

Attempt to clean the exterior of the sensor withactive cleaning systems●

Transition the vehicle from bidirectional tounidirectional so that the sensor issue hasa minimized effect on driving capability●

Reduce speed or stop driving

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03 / RIDER PROTECTION

03/

Rider protection
Equivalent safety for each rider
Reimagining the airbag for a new kind of vehicle
Seat belts: a new take on a classic life-saving tool

INTRODUCING ZOOX SAFETY INNOVATIONS

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03 / RIDER PROTECTION

Equivalent safety for each rider

Zoox is transforming the transportation paradigm,
including the way we think about occupant safety. In
conventional automobiles, occupant safety is optimized
for the driver and front passenger seats, which have thehighest occupancy rates. Because the Zoox vehicle issymmetrical and bidirectional, no seat is more likely thanany other to be occupied by a passenger, so our goal is toensure the highest level of safety for each seat.
Building autonomous mobility from the ground up
creates many opportunities for us to set the bar forsafety expectations, which is why we evaluate eachof the four seats in our vehicles according to the UnitedStates New Car Assessment Program (USNCAP) five-star
performance metrics. We utilize USNCAP performance
metrics as part of our goal to set the bar for whatcustomers of ride-sharing services should expect; thatis one of the unique opportunities building autonomous
mobility from the ground up presents.

The USNCAP is an educational, consumerfocused program created and run by the
National Highway Traffic Safety Administration(NHTSA). NHTSA established a five-star crashrating rubric that has been recognized as
foundational to evaluating crashworthiness andcar safety. Every year, NHTSA selects a subset of
newly released passenger vehicles to evaluate
in a series of crash tests. The goal of the
program is to help consumers understand andcompare relative vehicle safety acrossdifferent manufacturers.

To achieve this level of safety for all of our passengers,
regardless of where they are seated, we rely on bothtraditional and innovative safety features.

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03 / RIDER PROTECTION

Reimagining the airbag for a new kind of vehicle

Depicted here are the horseshoe curtain airbag, frontal airbag, and seatside airbag.

We have designed a newgeneration of airbags
built for a vehicle interior
without a traditional
steering wheel anddashboard surface fromwhich to deploy.

INTRODUCING ZOOX SAFETY INNOVATIONSThe unique inward-facing carriage seating arrangementin the Zoox vehicle has required a radical rethinkingof the occupant restraint system. Our novel airbag
system is managed by an Airbag Control Unit (ACU)
that incorporates sensor data to detect the vehicle’s
direction and velocity, as well as the severity of acollision. Because Zoox vehicles are bidirectional, ourACU detects collisions in both directions.
We have designed a new generation of airbags built fora vehicle interior without a traditional steering wheeland dashboard surface from which to deploy. Our system
consists of several distinct airbag types: horseshoe
curtain airbags, frontal airbags, rear airbags, side
head airbags, and seat side airbags. Depending on the
direction and severity of a crash, the ACU will determine
which airbags to deploy and in what sequence tomaximize passenger protection.

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03 / RIDER PROTECTION●

Horseshoe Curtain Airbag: This airbag provides areaction surface (i.e., a stable surface) for the frontal
airbags that passengers make contact with in theevent of a collision at either end of the vehicle.

●

Frontal Airbag: This system deploys from the ceiling,
dropping down in front of each seat. The airbag is
divided into two sections that are separated by anindented pocket, which provides greater protection
and support for passengers’ heads, necks,
and chests.

●

Rear Airbag: This airbag deploys behind thepassenger headrest on the side of the vehicle
involved in the collision, preventing debris fromentering the passenger cabin.

●

Side Head Airbag: This airbag deploys from the ceiling
if the vehicle is struck from the side, dropping down
between the seat and window to protect passengers’
heads and necks.

●

Seat Side Airbag: This airbag is embedded within
the side of each passenger seat. When it deploys, it
presses against the interior of the seat, which pushes
the seat surface closer to the rider’s body, holding
them more securely in the seats. This airbag deploys
in a high speed side crash event.

A set of instructions for first responders is printed visiblyon the side of the airbag system that faces out thewindow. The instructions detail how to enter the vehicle
and assist passengers inside post-crash.

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03 / RIDER PROTECTION

Seat belts: a new take on a classic life-saving tool

A communication device for each seat.

We know seat belts save
lives, and we ensure ourriders are buckled up before
their trip with us begins.

INTRODUCING ZOOX SAFETY INNOVATIONS

Zoox is taking this fundamental safety feature to a newlevel of performance. The Zoox vehicle is allowed to
begin its journey only when all passengers have properly
and securely fastened their seat belts. We know seatbelts save lives, and we ensure our riders are buckled up
before their trip with us begins.
Our system verifies appropriate seat belt usage via threedifferent inputs:
1.

Sensors in the seat that detect a rider’s presence.

2.

A switch within the seat belt buckle itself thatmonitors whether the belt is fastened.

3.

An in-vehicle camera that ensures seat belts are
fastened and secured properly (for example, toensure the chest strap has not been moved behindthe passenger). This camera is infrared-enabled anddetects specific coding on the seat belt to ensure
it is worn properly—even at night or in other lowvisibility conditions.
2303 / RIDER PROTECTION

Our system combines the information from all of thesesensor inputs to confirm that all passengers are safely
secured in their seats.
If our automated driving system detects a potential or
imminent collision, the seat belt system will proactively
tension the seat belt webbing to bring occupants into the
optimal position for airbag deployment and protection.
This capability maximizes seat belt safety performancefor all riders at all times.

The seat belt is one of the most powerful safety
technologies available. Though it was firstinvented in the late 1800s, it wasn’t until the
1950s and 1960s that it became widespreadin the United States.3 In 1954, the Sports Car
Club of America mandated that race car drivers
would be required to wear seat belts. In 1968,
the first federal seat belt law—Title 49 of theUnited States Code, Chapter 301, Motor Vehicle
Safety Standard—came into effect, requiring all
vehicles (with the exception of buses) to haveseat belts for all designated seating positions. 4
The safety benefits that seat belts provide areclear. In the U.S., about 90% of occupants wear
their seat belts, but more than half of those whohave been killed in car crashes were not wearing
them. For occupants in the front seats, seatbelts reduce the risk of serious injury and deathby about a factor of two.5

3“A Seat Belt History Timeline” Northeast AAA

https://magazine.northeast.aaa.com/daily/life/cars-trucks/a-seat-belt-history-timeline/
4“From Scorn to Worn: The curious history of seat belts” Columbus Air Force Basehttps://www.columbus.af.mil/News/Article-Display/Article/936880/from-scorn-to-worn-the-curioushistory-of-seat-belts/
5“Seat Belts: Get the Facts,” Centers for Disease Control

https://www.cdc.gov/transportationsafety/seatbelts/facts.html?CDC_AA_refVal=https%3A%2F%2Fwww.
cdc.gov%2Fmotorvehiclesafety%2Fseatbelts%2Ffacts.html

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CONCLUSION

Moving forward

In this Safety Report 2.0, we’ve highlighted nine safety
innovations that are actually made up of over 30 novel
safety features. In future reports, we will discuss ourCollision Avoidance System that is able to predict andavoid other objects’ trajectories; our External Lighting
and Sound System that can communicate intent toother road users; our Emergency Vehicle detection andresponse system; and the structural energy absorbersthat dampen impacts in the case of a collision.
Autonomous vehicles create a once-in-a-generation
opportunity to enhance safety, mobility, andsustainability for our society. At Zoox, our intent to
set the bar for safety in autonomous mobility means
pursuing safety innovations that move beyond thefeatures that exist in cars on the road today.

INTRODUCING ZOOX SAFETY INNOVATIONSIn December 2020, we revealed our vehicle built from theground up for autonomous mobility, and this report is an
introduction to just a few of the 100+ safety innovations
we’ve designed and built into our vehicle to prevent
incidents and protect riders.
We are working on additional reports that will focus onother technical and operational Zoox safety innovations
that further demonstrate our commitment to safety. As
this journey progresses, we’re excited to help advancethe conversation around safety in autonomous mobility.

LEARN MORE AT ZOOX.COM

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www.zoox.com