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Detecting potentially occluded objects for autonomous vehicles

A potential, vehicle technology, applied in vehicle components, autonomous decision-making process, vehicle position/route/altitude control, etc., can solve difficult problems

Pending Publication Date: 2022-04-05
WAYMO LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This can be especially difficult in roads where some objects are obscured by others

Method used

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  • Detecting potentially occluded objects for autonomous vehicles
  • Detecting potentially occluded objects for autonomous vehicles
  • Detecting potentially occluded objects for autonomous vehicles

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[0017] overview

[0018] This technique involves detecting potentially occluded objects, particularly those that may be within or close to crosswalks. For example, autonomous vehicles can drive on roads that include pedestrian crossings. In many examples, various objects such as moving or parked vehicles or trees may cause portions of the crosswalk to be obscured, or not directly visible to the ego vehicle's sensors. Thus, the ego vehicle's computer can estimate whether a segment of the crosswalk is likely to be occupied by an occluded object, and can use this to control the vehicle.

[0019] As the vehicle drives around, it may sometimes approach and eventually cross the pedestrian crossing. These crosswalks may be known a priori, ie pre-stored in map information accessible by the vehicle's computing device. In this regard, the vehicle's computing device may determine that the vehicle is approaching a crosswalk. In other words, this determination may have been made before...

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Abstract

Aspects of the present disclosure relate to controlling a vehicle 100 having an autonomous driving mode. For example, it may be determined that a vehicle is approaching a pedestrian crosswalk 440, 442, 444. A set of road segments 1-5 may be identified for a pedestrian crosswalk. A set of potentially occluded pedestrians A-O may be generated. Each potentially occluded pedestrian in the set is assigned a speed characteristic and a road segment. The segments of the set of potentially occluded pedestrians may be updated over time using the assigned velocity characteristics. Sensor data from a perceptual system 172 of the vehicle is received, and one or more potentially occluded pedestrians having updated assigned segments corresponding to segments visible to the perceptual system of the vehicle may be removed from the set of potentially occluded pedestrians. After removal, the set may be used to control the vehicle in an autonomous driving mode.

Description

[0001] Cross References to Related Applications [0002] This application is a continuation of US Patent Application Serial No. 16 / 552,426, filed August 27, 2019, the disclosure of which is incorporated herein by reference. Background technique [0003] Autonomous vehicles, such as vehicles that do not require a human driver when operating in an autonomous driving mode, may be used to assist in the transport of passengers or items from one location to another. Autonomous vehicles, such as vehicles that do not require a human driver, can be used to assist in the transport of passengers or items from one location to another. An important component of an autonomous vehicle is the perception system, which allows the vehicle to sense and interpret its surroundings using various sensors such as cameras, radars, lasers, and other similar devices. For example, an autonomous vehicle may use sensors to collect and interpret images and sensor data about its surroundings (eg, parked cars...

Claims

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Application Information

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IPC IPC(8): B60W60/00G06V10/26G06V20/58G06V40/10
CPCB60W60/0027B60W60/0017B60W2554/4029B60W2552/53G06V40/103G06V20/58G06V10/273G08G1/166B60W30/18154B60W2720/10G05D1/0223G05D1/0088B60W30/146B60W50/0097B60W2554/00
Inventor J·伊格莱西亚斯
Owner WAYMO LLC
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