Operation of an autonomous vehicle in environments with obstructed occupant view and sensor detection

Abstract

Method for operating an autonomous vehicle (100) in environments with occupant vision and vehicle sensor blocking, comprising: Identifying an information-relevant area (450) in an external environment with regard to a planned future driving maneuver of the autonomous vehicle (100), wherein the planned future driving maneuver includes at least crossing an intersection, making a right turn, making a left turn or passing through a roundabout; Scanning at least one section of the external environment of the autonomous vehicle (100) to detect the presence of an obstacle object located therein; in response to the determination that at least a portion of the information-relevant area (450) is located outside a certain occupant's field of vision and a certain sensor detection range due to the presence of the detected obstacle object, determine whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle (100); and In response to the determination that the detected obstacle object is moving favorably with respect to the planned future driving maneuver of the autonomous vehicle (100), causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object in such a way that it is shielded by the detected obstacle object from potential objects located in the at least one section of the information-relevant area (450) that is outside the specified occupant vision area and the specified sensor detection area due to the detected obstacle object, wherein causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object includes causing the autonomous vehicle (100) to execute the planned future driving maneuver.while moving side by side with the detected obstacle object, without moving in front of the detected obstacle object.

Description

AREA

[0001] The subject matter described herein generally concerns vehicles with an autonomous operating mode and, in particular, the operation of such vehicles in environments where occupant vision and sensor detection areas are blocked. BACKGROUND

[0002] Some vehicles incorporate an operating mode in which a computer system is used to navigate and / or maneuver the vehicle along a route with minimal or no input from a human driver. Such vehicles include sensors designed to gather information about the surrounding environment, including the presence of objects. The computer systems are trained to process the gathered information to determine how to navigate and / or maneuver the vehicle through the surrounding environment. In some cases, there may be sections of the surrounding environment that cannot be detected by a human occupant or the vehicle's sensors. Due to such blind spots, it may be dangerous for the vehicle to continue driving in certain situations.

[0003] From WO 2015 / 008 588 A1, a driver assistance device for a vehicle is known, comprising an object detection section for detecting objects located in the vicinity of the vehicle. The driver assistance device determines whether the vehicle is within a predetermined area of ​​an intersection. From the objects detected by the object detection section, the driver assistance device extracts a first moving object that could collide with the vehicle as it enters the intersection. From the objects detected by the object detection section, the driver assistance device extracts a second moving object that is crossing a road on which the first moving object is traveling between the vehicle and the first moving object, and captures motion information of the second moving object crossing the intersection.The driver assistance device determines that the vehicle can enter the intersection once the movement information of the second moving object crossing the intersection is detected. A further driver assistance device, which provides driving assistance to a supported vehicle A traveling on a non-priority road and attempting to turn onto a priority road based on the presence of a vehicle B traveling on the priority road, is the subject of DE 11 2009 004 419 B4. This driver assistance device includes a support processing section that modifies the final position of the driving assistance based on the traffic conditions on a first lane closest to the non-priority road compared to lanes of the priority road. SUMMARY

[0004] In one aspect, the present disclosure relates to a method for operating an autonomous vehicle in environments with occupant vision and vehicle sensor blocking, comprising the features of claim 1. The method includes identifying an information-relevant area in an external environment with regard to a planned future driving maneuver of the autonomous vehicle, wherein the planned future driving maneuver includes at least crossing an intersection, making a right turn, making a left turn, or passing through a roundabout. The method also includes scanning at least one section of the autonomous vehicle's external environment to detect the presence of an obstacle object therein. The method further includes—in response to the determination,that at least one section of the information-relevant area is located outside a specific occupant's field of vision and a specific sensor detection range due to the presence of the detected obstacle object – determining whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle. Furthermore, in response to the determination that the detected obstacle object is moving favorably with respect to the planned future driving maneuver of the autonomous vehicle, the method involves causing the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle object in such a way that it is shielded by the detected obstacle object from potential objects located in the at least one section of the information-relevant area.which is located outside the defined occupant field of vision and the defined sensor detection range due to the detected obstacle object, wherein initiating the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle object includes initiating the autonomous vehicle to execute the planned future driving maneuver while moving side by side with the detected obstacle object without moving in front of the detected obstacle object.

[0005] In another aspect, the present disclosure relates to a system for operating an autonomous vehicle in environments with occupant vision and vehicle sensor blockage, comprising the features of claim 2. The system includes a sensor system. The sensor system is configured to scan at least one section of the autonomous vehicle's external environment in order to detect the presence of an obstacle object therein.

[0006] The system also includes a processor that is operationally connected to the sensor system. The processor is programmed to initiate executable operations. These operations include identifying an information-relevant area in an external environment with regard to a planned future driving maneuver of the autonomous vehicle, where the planned future driving maneuver includes at least crossing an intersection, making a right turn, a left turn, or passing through a roundabout. The executable operations also include determining an occupant's field of vision within the external environment. Furthermore, the executable operations include determining a sensor detection area within the external environment.

[0007] The executable operations include – in response to the determination that at least one section of the information-relevant area is located outside the specified occupant's field of vision and the specified sensor detection area due to the presence of the detected obstacle object – determining whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle. The executable operations also include – in response to the determination that the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle – causing the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle object in such a way that it is shielded by the detected obstacle object from potential objects located in the at least one section of the information-relevant area.which is located outside the defined occupant field of vision and the defined sensor detection range due to the detected obstacle object, wherein initiating the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle object includes initiating the autonomous vehicle to execute the planned future driving maneuver while moving side by side with the detected obstacle object without moving in front of the detected obstacle object.

[0008] In yet another aspect, the present disclosure relates to a computer program product for operating an autonomous vehicle in environments with occupant vision and vehicle sensor blocking, comprising the features of claim 3. The computer program product includes a computer-readable storage medium containing program code. The program code is executable by a processor to perform a method. The method includes identifying an information-relevant area in an external environment with regard to a planned future driving maneuver of the autonomous vehicle, wherein the planned future driving maneuver includes at least crossing an intersection, making a right turn, making a left turn, or passing through a roundabout. The method also includes scanning at least one section of the autonomous vehicle's external environment to detect the presence of an obstacle object located therein.

[0009] The procedure further includes determining an occupant's field of vision of the external environment. It also includes determining a sensor detection range of the external environment. In response to the determination that at least a portion of the information-relevant area lies outside the determined occupant's field of vision and the determined sensor detection range due to the presence of the detected obstacle object, the procedure includes determining whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle. In response to the determination that the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle, the procedure includes initiating the planned future driving maneuver while moving relative to the detected obstacle object.that it is shielded by the detected obstacle object from potential objects located in at least one section of the information-relevant area which, due to the detected obstacle object, is outside the specified occupant's field of vision and the specified sensor detection area, wherein initiating the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle object includes initiating the autonomous vehicle to execute the planned future driving maneuver while moving side by side with the detected obstacle object without moving in front of the detected obstacle object. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an example of an autonomous vehicle. Fig. 2 is an example of a procedure for operating an autonomous vehicle in an environment with obstructed visibility. Fig. 3A is an example of an environment in which at least one section of an area relevant to information for a planned future driving maneuver of a vehicle is located outside a certain occupant's field of vision and a certain sensor detection area due to the presence of a detected obstacle object. Fig. 3B is an example of the environment of Fig. 3A, which shows the detected obstacle object moving favorably with respect to a planned future driving maneuver of the vehicle. Fig. 4A is an example of an environment in which at least one section of an area relevant to information for a planned future driving maneuver of a vehicle is located outside a certain occupant's field of vision and a certain sensor detection area due to the presence of a detected obstacle object. Fig. 4B is an example of the environment of Fig. 4A, which shows the detected obstacle object moving favorably with respect to a planned future driving maneuver of the vehicle. DETAILED DESCRIPTION

[0010] This detailed description concerns the operation of an autonomous vehicle in environments with obstructed vision. Specifically, this detailed description concerns the operation of an autonomous vehicle when at least a portion of an information-relevant area in the environment is located outside a specific occupant's field of vision and a specific sensor detection range due to the presence of an obstacle. In one or more implementations, it can be determined whether the detected obstacle is moving favorably with respect to the planned future driving maneuver of the autonomous vehicle.In response to the determination that the detected obstacle is moving favorably with respect to the planned future maneuver of the autonomous vehicle, the autonomous vehicle can be instructed to execute the planned maneuver while moving relative to the detected obstacle in such a way that it is shielded by the detected obstacle from potential objects located in the information-relevant area. This detailed description pertains to systems, methods, and computer program products that incorporate such features. At least in some cases, such systems, methods, and computer program products can enhance the safety and / or confidence of occupants in the autonomous operation of the vehicle.

[0011] Detailed embodiments are disclosed herein; however, it should be understood that the disclosed embodiments are intended only as examples. Therefore, the specific constructive and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching a person skilled in the art how to apply the aspects herein in a variety of ways in practically any suitably detailed design. Furthermore, the terms and formulations used herein are not intended as limiting, but rather to provide an understandable description of possible implementations. Various embodiments are described in the Fig. 1-4B shown, but the embodiments are not limited to the illustrated construction or application.

[0012] It is understood that, for the sake of simplicity and clarity, reference numerals may be repeated between the various figures to indicate corresponding or analogous elements. Furthermore, numerous specific details are provided to facilitate a thorough understanding of the embodiments described herein. However, the person skilled in the art will understand that the embodiments described herein are practicable without these specific details.

[0013] With reference to Fig. Figure 1 shows an example of a vehicle 100. As used herein, "vehicle" means any form of motorized transport. In one or more implementations, the vehicle 100 may be an automobile. Although arrangements relating to automobiles are described herein, it is understood that the embodiments are not limited to automobiles. In one or more implementations, the vehicle 100 may be a watercraft, an aircraft, or any other form of motorized transport. The vehicle 100 may have a front end 102 and a rear end 104.

[0014] According to arrangements herein, the vehicle 100 may be an autonomous vehicle. As used herein, “autonomous vehicle” means a vehicle trained to operate in an autonomous mode. “Autonomous mode” means that one or more computer systems are used to navigate and / or maneuver the vehicle along a route with minimal or no input from a human driver. In one or more arrangements, the vehicle 100 may be highly automated. In some cases, the vehicle 100 may be trained to switch selectively between an autonomous mode and a manual mode. Such switching may be implemented in any suitable manner now known or hereafter devised. “Manual mode” means that a large proportion of the navigation and / or maneuvering of the vehicle along a route is performed by a human driver.

[0015] Vehicle 100 can include various elements, some of which may be part of an autonomous driving system. Some of the possible elements of Vehicle 100 are in Fig. 1 shown and will now be described. It is understood that vehicle 100 does not necessarily include all of the features shown. Fig. The vehicle 100 must have any combination of the elements shown or described herein. Fig. The vehicle can have the various elements shown in Figure 1. Furthermore, in addition to those shown in Figure 100, the vehicle can also have 100 other elements. Fig. 1. Additional elements shown. In some arrangements, the vehicle may have one or more of the elements shown. Fig. The elements shown in point 1 are not included. Furthermore, the various elements in Fig. Although shown as being inside vehicle 100, it is understood that one or more of these elements may be located outside vehicle 100. Furthermore, the elements shown may be physically separated by large distances.

[0016] The vehicle 100 may include one or more processors 110. "Processor" means any component or group of components configured to perform any of the processes described herein or any form of instruction to perform such processes or to have such processes performed. The processor 110 may be implemented with one or more general-purpose processors and / or one or more specialized processors. Examples of suitable processors include microprocessors, microcontrollers, DSP processors, and other circuit arrangements capable of executing software.Other examples of suitable processors include, but are not limited to, a central processing unit (CPU), an array processor, a vector processor, a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic assembly (PLA), an application-specific integrated circuit (ASIC), a programmable logic circuit, and a controller. The processor 110 may include at least one hardware circuit (e.g., an integrated circuit) configured to execute instructions contained in the program code. In arrangements containing multiple processors 110, such processors may operate independently, or one or more processors may operate in combination. In one or more arrangements, the processor 110 may be a main processor of the vehicle 100. For example, the processor 110 may be an engine control unit (ECU).

[0017] The vehicle 100 may include one or more data storage devices 115 for storing one or more types of data. The data storage device 115 may include volatile and / or non-volatile memory. Examples of suitable data storage devices 115 include RAM (Random Access Memory), flash memory, ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), registers, magnetic disks, optical disks, hard disks, or any other suitable storage medium or any combination thereof. The data storage device 115 may be a component of the processor 110, or the data storage device 115 may be operationally connected to the processor 110 for use by the processor.The term “business-related”, as used throughout the description, may include direct or indirect links, including links without direct physical contact.

[0018] The vehicle 100 may include an autonomous driving module 120. The autonomous driving module 120 may be implemented as computer-readable program code which, when executed by a processor, implements one or more of the various processes described herein, including, for example, determining current driving maneuvers for the vehicle 100, future driving maneuvers, and / or modifications. The autonomous driving module 120 may also directly or indirectly cause such driving maneuvers or modifications to be implemented. The autonomous driving module 120 may be a component of the processor 110, or the autonomous driving module 120 may be executed on and / or distributed across other processing systems with which the processor 110 is operationally connected.

[0019] The autonomous driving module 120 can contain instructions (e.g., program logic) that can be executed by the processor 110. Such instructions can include instructions for performing various vehicle functions and / or for transmitting data to, receiving data from, interacting with, and / or controlling the vehicle 100 or one or more of its systems (e.g., one or more of the vehicle systems 145). Alternatively or additionally, the data storage device 115 can contain such instructions.

[0020] The vehicle 100 can include a vision analysis module 121. The vision analysis module 121 can be implemented as computer-readable program code which, when executed by a processor, implements one or more of the various processes described herein. The vision analysis module 121 can be a component of the processor 110, or the vision analysis module 121 can be executed on and / or distributed across other processing systems with which the processor 110 is operationally connected.

[0021] The vision analysis module 121 can be configured to acquire, analyze, determine, and / or interpret information about the vehicle's external environment in order to determine an occupant's field of vision. "Occupant's field of vision" refers to a portion of the external environment visible to a vehicle occupant. Determining the occupant's field of vision can be based on one or more factors, including, for example, the occupant's position within the vehicle, obstacles in the external environment (e.g., other vehicles, weather conditions, etc.), obstacles within the vehicle (e.g., sections of the vehicle frame or molded parts that obstruct the view, window tinting, etc.), the seating position (e.g., height, longitudinal position within the vehicle, reclining position, etc.), and the body dimensions of a human occupant (e.g.,Size), physical limitations of a human occupant, and / or limitations in the sensory perception of a human occupant, to name just a few possibilities. The body measurements, physical limitations, and / or limitations in the sensory perception of a human occupant can be based on data from a specific individual, an average individual, or another dataset.

[0022] In one or more configurations, the body measurements of a human occupant can be based on actual measurements of one or more features of that human occupant. For example, one or more images of at least one section of a human occupant's body can be captured. For instance, one or more images of at least one section of a human occupant's body can be captured by a scanner, camera, and / or sensor. The Vision Analysis Module 121 or another element can include any suitable body detection and / or body analysis software. In one or more configurations, at least one section of a human occupant's face can be captured. Facial detection and / or analysis software can be used to facilitate image capture and / or to analyze captured images.Analyzing the images may involve determining or measuring one or more physical characteristics of a human occupant, such as eye size, pupil distance, distance between the eyes, distance between at least one of the eyes and one or more other facial or body features, distance between at least one of the eyes and a structure inside the vehicle, head angle, eye angle, the vertical meridian in each eye, the horizontal meridian in each eye, to name just a few possibilities.

[0023] In one or more configurations, such measurements can be used, at least in part, to determine the occupant's field of vision. In one or more configurations, the occupant's field of vision can also be determined by incorporating information / data about a person's visual field. For example, in one or more configurations, a predetermined human visual field can include a set of predetermined visual spectra, which may be based on a specific individual, an average individual, or another dataset. As an example, a set of predetermined visual spectra might include: approximately 60 degrees nasal (e.g., toward the nose or inward) from the vertical meridian in each eye to approximately 100 degrees temporal (e.g., away from the nose or outward) from the vertical meridian in each eye, and approximately 60 degrees above and approximately 75 degrees below the horizontal meridian of each eye.

[0024] In one or more configurations, the vision analysis module 121 can be configured to determine or consider the actual visual spectra of a human occupant of the vehicle 100 when determining the occupant's field of vision. For example, the vision analysis module 121 can be configured to obtain, access, and / or receive information / data relating to one or more aspects of a human occupant's vision in the vehicle. For example, the vision analysis module 121 can be configured to perform at least one partial field of vision test of a human occupant of the vehicle 100. Alternatively or additionally, the vision analysis module 121 can receive information / data or inputs relating to a human occupant's vision, including information / data relating to any medical conditions, corrective lenses, visual acuity, previous vision tests, etc.

[0025] The Vision Analysis Module 121 can be configured to determine the location of an object detected in the external environment relative to the occupant's field of vision. Specifically, the Vision Analysis Module 121 can be configured to determine whether an object detected in the external environment is located outside the occupant's field of vision. Alternatively or additionally, the Vision Analysis Module 121 can be configured to determine whether at least a portion of an information-relevant area of ​​the external environment is located outside the specified occupant's field of vision.

[0026] The vision analysis module 121 can contain instructions (e.g., program logic) that can be executed by the processor 110. Such instructions can include instructions for determining an occupant's field of vision, for determining the location of a detected object relative to the occupant's field of vision, and / or for determining whether at least one section of an information-relevant area is located outside the determined occupant's field of vision. Alternatively or additionally, the data memory 115 can contain such instructions.

[0027] The vehicle 100 can include a determination module 122 of an information-relevant area. The determination module 122 of an information-relevant area can be implemented as computer-readable program code which, when executed by a processor, implements the various processes described herein. The determination module 122 of an information-relevant area can be a component of the processor 110, or the determination module 122 of an information-relevant area can be executed on and / or distributed across other processing systems with which the processor 110 is operationally connected.

[0028] The determination module 122 of an information-relevant area can be configured to identify an information-relevant area along a vehicle's route. "Information-relevant area" means any section of a vehicle's external environment where information contained therein is relevant to the execution of a future driving maneuver. In this context, "relevant" refers to information that is important in determining whether the vehicle can safely and successfully complete a future driving maneuver. The information-relevant area can change if there are changes in the location, position, and / or direction of the vehicle. Furthermore, depending on the external environment, there may be one or more information-relevant areas for a given future driving maneuver.

[0029] The identification module 122 of an information-relevant area can be operationally connected to a sensor system 125, a camera system 127, a navigation system 180, and / or another element of the vehicle 100 to identify an information-relevant area. In one or more configurations, the identification module 122 of an information-relevant area can be operationally connected to one or more of the data storage devices 115, which may contain images, maps, or other data. As the vehicle 100 travels along a route, future driving maneuvers that the vehicle 100 will perform along the route can be assessed in relation to other sections of the external environment.

[0030] Several examples of information-relevant areas are described here. For instance, if a vehicle is approaching an intersection and plans to turn right onto another street, then an information-relevant area would be at least a section of the other street located to the left of the intersection. An example of such an area is marked with 450 in Fig. 4A is shown. The presence or absence of objects in such an area would be relevant for the future driving maneuver (e.g., turning right into the street). In one or more arrangements, the information-relevant area can be located within a predetermined area or distance. For example, for the Fig. The information-relevant area shown in Figure 4A extends from the intersection to a predetermined distance away from the intersection. In one or more configurations, the predetermined distance may be approximately 50 feet or less, approximately 75 feet or less, approximately 100 feet or less, approximately 150 feet or less, approximately 200 feet or less, etc.

[0031] As mentioned above, the vehicle 100 may include a sensor system 125. The sensor system 125 may include one or more sensors. "Sensor" means any device, component, and / or system capable of detecting, determining, ascertaining, monitoring, measuring, quantifying, and / or sensing or sampling. The one or more sensors may be configured to detect, determine, ascertain, monitor, measure, quantify, and / or sensing or sampling in real time. As used herein, the term "real time" means a degree of processing response speed that a user or system considers sufficiently timely for a particular process or determination to be made, or that enables the processor to keep pace with any external process. The sensor system 125 may have an assigned sensor sensing area."Sensor detection range" means a section of an environment that lies within the range of one or more sensors of a sensor system. The sensor detection range of sensor system 125 can, for example, be determined by sensor system 125, the vision analysis module 121, and / or another module or element.

[0032] In configurations where the sensor system 125 includes multiple sensors, the sensors can operate independently of one another. Alternatively, two or more of the sensors can operate in combination. The sensor system 125 and / or one or more sensors can be operationally connected to the processor 110, the data storage 115, the autonomous driving module 120, and / or another element of the vehicle 100.

[0033] The sensor system 125 can include any suitable type of sensor. For example, the sensor system 125 can include one or more sensors designed to detect, determine, ascertain, monitor, measure, quantify, and / or acquire information about the vehicle 100. Alternatively or additionally, the sensor system 125 can include one or more sensors designed to detect, determine, ascertain, monitor, measure, quantify, and / or acquire information about the external environment in which the vehicle 100 is located, including information about objects in the external environment. Such objects can be stationary or moving.Alternatively or additionally to one or more of the above examples, the sensor system 125 may include one or more sensors configured to detect, determine, ascertain, monitor, measure, quantify, and / or record the location of the vehicle 100 and / or the location of objects in the environment relative to the vehicle 100. Various examples of these and other types of sensors are described herein. It is understood that the embodiments are not limited to the specific sensors described.

[0034] The sensor system 125 may include one or more sensors configured to detect, determine, ascertain, monitor, measure, quantify, and / or record changes in the position and direction of the vehicle 100, such as those based on inertial acceleration. In one or more configurations, the sensor system 125 may include accelerometers, gyroscopes, and / or other suitable sensors. The sensor system 125 may include sensors capable of monitoring one or more internal systems of the vehicle 100 (e.g., an O2 monitoring device, a fuel gauge, engine oil temperature, coolant temperature, etc.).

[0035] The sensor system 125 can include one or more environmental sensors 126. The environmental sensors 126 can be configured to detect, determine, ascertain, monitor, measure, quantify, and / or acquire objects in at least one section of the external environment of the vehicle 100 and / or information / data about such objects. The one or more environmental sensors 126 can be located at any suitable location on the vehicle. In one or more configurations, one or more of the environmental sensors 126 can be located facing the front end 102 of the vehicle 100. In one or more configurations, one or more environmental sensors 126 can be located on the left side of the front end 102 of the vehicle 100. Alternatively or additionally, one or more environmental sensors 126 can be located on the right side of the front end 102 of the vehicle 100.Additionally or alternatively, one or more environmental sensors 126 may be located at any suitable location on or near the rear end 104 of the vehicle 100.

[0036] Several examples of the environmental sensors 126 are described herein. However, it is understood that the embodiments are not limited to the specific sensors described.

[0037] In one or more arrangements, one or more of the environmental sensors 126 may use radio signals at least partially (e.g., radar-based sensors). The one or more radio-based sensors may be configured to directly or indirectly detect, determine, ascertain, monitor, measure, quantify, and / or record the presence of one or more objects in the external environment of the vehicle 100, the position of each detected object relative to the vehicle 100, the distance between each detected object and the vehicle 100 in one or more directions (e.g., longitudinally, laterally, and / or in another direction(s)), the velocity of each detected object, and / or the movement of each detected object.

[0038] In one or more arrangements, one or more of the environmental sensors 126 may use lasers, at least in part. For example, one or more of the environmental sensors 126 may be, or include as part of, laser rangefinders or a lidar. Such devices may include a laser source and / or a laser scanner configured to emit laser light and a detector configured to detect reflections of the laser light. The laser rangefinder or lidar may be configured to operate in a coherent or an incoherent detection mode. The one or more laser-based sensors may be configured to detect the presence of one or more objects in the external environment of the vehicle 100, the position of each detected object relative to the vehicle 100, and the distance between each detected object and the vehicle 100 in one or more directions (e.g.,to detect, determine, ascertain, monitor, measure, quantify and / or record the speed and / or movement of each detected object directly or indirectly (in the longitudinal direction, the transverse direction and / or any other direction(s)).

[0039] In one or more arrangements, one or more of the environmental sensors 126 may use ultrasound, at least in part. Such sensors may include an ultrasound source configured to emit ultrasound signals and a detector configured to detect reflections of the ultrasound signal. The one or more ultrasound-based environmental sensors 126 may be configured to directly or indirectly detect, determine, ascertain, monitor, measure, quantify, and / or record the presence of one or more objects in the external environment of the vehicle 100, the position of each detected object relative to the vehicle 100, the distance between each detected object and the vehicle 100 in one or more directions (e.g., longitudinally, laterally, and / or in another direction), the velocity of each detected object, and / or the movement of each detected object.Such detection can be based on a property (e.g., the intensity) of a reflected ultrasound signal.

[0040] In some configurations, the sensor system 125, the processor 110, and / or one or more of the modules 120, 121, 122 can be configured to directly or indirectly detect, determine, ascertain, monitor, measure, quantify, and / or record one or more aspects, characteristics, and / or properties of a detected object. For example, the sensor system 125, the processor 110, and / or one or more of the modules 120, 121, 122 can be configured to directly or indirectly detect, determine, ascertain, monitor, measure, quantify, and / or record the size, relative size, length, width, height, dimension, material, material property, velocity, acceleration, and / or trajectory of a detected object.

[0041] Alternatively or in addition to any of the sensors described above, the sensor system 125 may include other types of sensors. The sensor system 125, the processor 110, and / or one or more of the modules 120, 121, 122 may be operated to control the movements of one or more of the sensors of the sensor system 125. It should be noted that each of the sensors described herein may be located at any suitable location in relation to the vehicle 100. For example, one or more sensors may be located inside the vehicle 100, one or more sensors may be located on the outside of the vehicle, and / or one or more sensors may be arranged so that they are exposed to the exterior of the vehicle 100.

[0042] The vehicle 100 may include a camera system 127. In one or more arrangements, the camera system 127 may be part of the sensor system 125. The camera system 127 may include one or more cameras 128 and / or one or more occupant view cameras 129. "Camera" is defined as any device, component, and / or system capable of capturing visual data. "Visual data" includes video and / or image information / data. The visual data may be in any suitable form.

[0043] In one or more arrangements, one or more of the cameras 128 and / or one or more of the occupant view cameras 129 may include a lens (not shown) and an image acquisition element (not shown). The image acquisition element may be any suitable type of image acquisition device or system, including, for example, an area array sensor, a charge-coupled device (CCD) sensor, a complementary metal oxide semiconductor (CMOS) sensor, a line sensor, or a monochrome CCD. The image acquisition element may acquire images at any suitable wavelength in the electromagnetic spectrum. The image acquisition element may acquire color images and / or grayscale images. One or more of the cameras 128 and / or one or more of the occupant view cameras 129 may be configured with magnification (or zoom-in) and / or reduction (or zoom-out) capabilities.

[0044] In one or more arrangements, one or more of the cameras 128 and / or one or more of the occupant view cameras 129 may be facing outwards.

[0045] “Outward-facing” means a camera that is oriented, positioned, designed, operable, and / or arranged to capture visual data from at least one section of the external environment of the vehicle 100. The one or more cameras 128 and / or the one or more occupant view cameras 129 may be located in any suitable area of ​​the vehicle 100. For example, one or more of the cameras 128 and / or one or more of the occupant view cameras 129 may be located inside the vehicle 100. One or more of the cameras 128 and / or one or more of the occupant view cameras 129 may be located on the outside of the vehicle 100. One or more of the cameras 128 and / or one or more of the occupant view cameras 129 may be located on the outside of the vehicle 100 or exposed to it.

[0046] The position of one or more of the cameras 128 and / or one or more of the occupant view cameras 129 can be fixed such that their position relative to the vehicle 100 does not change. Alternatively, one or more of the cameras 128 and / or one or more of the occupant view cameras 129 can be movable, allowing their position to change in order to capture visual data from different sections of the vehicle 100's external environment. The movement of the cameras 128 and / or the occupant view cameras 129 can be achieved in any suitable manner. For example, the cameras 128 and / or the occupant view cameras 129 can be rotatable about one or more axes, pivotable, sliding, and / or extendable, to name just a few possibilities.In one or more arrangements, the cameras 128 and / or the occupant view cameras 129 may have any suitable range of motion, including, for example, substantially spherical, substantially hemispherical, substantially circular, and / or substantially linear. As used herein, the term "substantially" includes exactly the term it modifies and minor deviations from it. For example, the term "substantially spherical" means exactly spherical and minor deviations therefrom.

[0047] The one or more cameras 128, the occupant view cameras 129, the movement of the one or more cameras 128 and / or the movement of the one or more occupant view cameras 129 can be controlled by the camera system 127, the sensor system 125, the processor 110 and / or one or more of the modules 120, 121, 122.

[0048] "Occupant view camera" means any camera that is designed, positioned, arranged, movable, and / or oriented to capture, obtain, and / or collect visual data of a vehicle's external environment in order to determine or ascertain the portion or portions of the external environment that can actually be seen by a human occupant of the vehicle. The occupant view area can be determined, for example, by the vision analysis module 121 and / or the processor 110. The one or more occupant view cameras 129 can be provided at any suitable location. For example, the one or more occupant view cameras 129 can be located inside the vehicle 100.

[0049] In one or more arrangements, one or more occupant view cameras 129 may be provided to capture, obtain, and / or collect visual data so that an occupant view area for the driver of the vehicle 100 can be determined. Alternatively or additionally, one or more occupant view cameras 129 may be provided to capture, obtain, and / or collect visual data so that an occupant view area for a passenger other than the driver of the vehicle 100 can be determined.

[0050] The vision analysis module 121 and / or the processor 110 can be configured to analyze visual data acquired by one or more occupant vision cameras 129 in order to determine an occupant's field of view. The vision analysis module 121 and / or the processor 110 can be configured to analyze information / data acquired by the sensor system 125 relating to detected objects in the external environment and to locate the detected objects relative to the occupant's field of view. The sensor system 125, the vision analysis module 121, and / or the processor 110 can be configured to determine the sensor detection range. The vision analysis module 121 and / or the processor 110 can be configured to determine or compare the occupant's field of view and the sensor detection range.

[0051] In one or more configurations, the vehicle 100 can include an object recognition module 123. In one or more configurations, the object recognition module 123 can include elements with artificial intelligence or computational intelligence, e.g., a neural network, fuzzy logic, or other machine learning algorithms. In some configurations, the sensor system 125, the processor 110, and / or the object recognition module 123 can be configured to directly or indirectly detect, determine, ascertain, measure, quantify, and / or record one or more dimensions of a detected object. For example, based on data received from one or more sensors of the sensor system 125, a direct measurement of one or more dimensions of a detected object can be determined.Examples of dimensions that can be detected, determined, ascertained, measured, quantified and / or recorded directly or indirectly include length, width and / or height.

[0052] In some arrangements, the sensor system 125, the processor 110, and / or the object detection module 123 can be configured to directly or indirectly detect, determine, ascertain, measure, quantify, and / or capture a relative size of at least one section of a detected object. In this context, a "large object" is any object that has one or more dimensions larger than a predetermined dimension or that is otherwise considered "large" based on one or more factors. A "not large object" is any object that has one or more dimensions smaller than a predetermined dimension or that is otherwise considered not large based on one or more factors.

[0053] The relative size of a detected object can be determined in any suitable way. For example, a detected dimension of the object (e.g., length, width, and / or height) can be compared to a predetermined dimension. The predetermined dimension can have any suitable value. If, in one or more configurations, the detected dimension is larger than the predetermined dimension, the object can be determined, classified, and / or considered to be a large object. Such a comparison, determination, classification, and / or consideration can be performed, for example, by the Processor 110 and / or the Object Recognition Module 123. If the detected dimension is less than or equal to the predetermined dimension, the object can be determined, classified, or considered to be a small object.

[0054] In one or more configurations, the predetermined dimension can be a predetermined length. In such configurations, the relative size of a detected object can be determined with respect to the predetermined length. For example, the length of an object can be detected. The detected length of the object can be compared to a predetermined length. The predetermined length can be any suitable length. In one or more configurations, the predetermined length can be substantially equal to or greater than the length of vehicle 100. In one or more configurations, such as in the case of smaller vehicles, the predetermined length can be a value greater than the length of vehicle 100. If, in some configurations, the detected length is greater than the predetermined length, the object can be determined, classified, and / or considered as a large object.If the measured length is less than or equal to the predetermined length, the object can be determined, classified, and / or considered as a small object.

[0055] Alternatively or additionally, the relative size of the object can be determined based on one or more inputs. For example, the sensor system 125 can be configured to directly or indirectly detect, determine, ascertain, measure, quantify, and / or record the number of wheels or tires on one side of an object. Based on the number of detected wheels or tires, the processor 110 and / or the object recognition module 123 can determine whether the object is a large object. For example, if more than two wheels are detected on one side of an object in the environment, it can be determined to be a large object (e.g., a truck).

[0056] Alternatively or additionally, the sensor system 125, the processor 110, and / or the object recognition module 123 can be configured to directly or indirectly detect, determine, ascertain, measure, quantify, and / or capture the size of an object's wheels or tires. For example, the object's wheels or tires may have an associated diameter and / or radius. The size of the wheels or tires can be determined by directly measuring the diameter or radius of a wheel or tire. In some arrangements, the detected diameter or radius of the wheels or tires can be compared to a predetermined diameter or radius. The predetermined diameter or radius can be any suitable value. In one or more arrangements, the predetermined diameter or radius can be substantially equal to the diameter or radius of the wheels or tires of the vehicle 100.In one or more configurations, such as in the case of vehicles with smaller wheels or tires, the predetermined diameter or radius can be larger than the diameter or radius of the wheels or tires of vehicle 100. If the detected diameter or radius is larger than the predetermined diameter or radius, the object can be determined to be large or long. If the detected diameter or radius is less than or equal to the predetermined diameter or radius, the object can be determined, classified, and / or considered to be small. Such a comparison and / or determination can be performed, for example, by processor 110 and / or object recognition module 123.

[0057] The object recognition module 123 can contain and / or access an object image database (not shown). The object image database can contain one or more images of a plurality of different objects (e.g., vehicles). Arrangements related to vehicles are described here, but it is understood that the arrangements are not limited to vehicles. In fact, the object image database can contain one or more images of objects other than vehicles. The images can be images of one or more sections of the exterior of at least one part of a plurality of different vehicles. For example, the images can be images of at least one section of a vehicle. The images can be provided in any suitable format. The vehicle image database can be located on board the vehicle 100, such as in the data storage 115, or it can be located in a source outside the vehicle 100 (e.g.,in a cloud-based data storage system).

[0058] For example, the object recognition module 123 can also include any suitable vehicle recognition software or other object recognition software. The vehicle recognition software can analyze an image captured by the camera system 127. The vehicle recognition software can query the vehicle image database for possible matches. For example, images captured by the camera system 127 can be compared with images in the vehicle image database for possible matches. Alternatively or additionally, dimensions or other aspects of an image captured by the camera system 127 and / or the sensor system 125 can be compared with dimensions or other aspects of any image in the vehicle image database. The object recognition module 123 can identify the captured object as a specific vehicle type if there is a match between the captured image and an image in the vehicle database.

[0059] “Match” or “matches” means that an image or other information collected by the sensor system and one or more of the images in the vehicle database are substantially identical. For example, an image or other information collected by the sensor system and one or more of the images in the vehicle database may match within a predetermined probability (e.g., at least approximately 85%, at least approximately 90%, at least approximately 95% or more) or a predetermined confidence level.

[0060] In one or more configurations, the vehicle 100 can include an object motion classification module 124. The sensor system 125, the processor 110, and / or the object motion classification module 124 can be configured to determine, detect, and / or classify the motion of an object relative to an information-relevant area with regard to a planned future driving maneuver. "Planned future driving maneuver" means any movement or action of the vehicle whose execution is intended or planned, such that the vehicle continues along a current route.

[0061] In one or more configurations, the object motion classification module 124 can determine whether an object is moving favorably or unfavorably with respect to a planned future driving maneuver of the vehicle 100. "Moving favorably" means that the object is moving in a direction and / or in such a way that it will be located between an information-relevant area and an autonomous vehicle while the autonomous vehicle is executing a planned future driving maneuver. "Moving unfavorably" means that the object is moving in a direction and / or in such a way that it will not be located between an information-relevant area and an autonomous vehicle while the autonomous vehicle is executing a planned future driving maneuver.

[0062] The vehicle 100 can include an input system 130. An "input system" is defined as any device, component, system, element, or arrangement, or groups thereof, that enable the input of information / data into a machine. The input system 130 can receive input from a vehicle occupant (e.g., a driver or a passenger). Any suitable input system 130 can be used, including, for example, a keypad, display, touchscreen, multi-touchscreen, button, joystick, mouse, trackball, microphone, and / or combinations thereof.

[0063] The vehicle 100 can include an output system 135. An "output system" is defined as any device, component, system, element, or arrangement, or groups thereof, that enable the presentation of information / data to a vehicle occupant (e.g., a person, a vehicle occupant, etc.). The output system 135 can present information / data to a vehicle occupant. The output system 135 can include a display, as described above. Alternatively or additionally, the output system 135 can include a microphone, earphones, and / or a loudspeaker. Some components of the vehicle 100 can serve as both a component of the input system 130 and a component of the output system 135.

[0064] The vehicle 100 can include one or more vehicle systems 145. Various examples of the one or more vehicle systems 145 are given in Fig. Figure 1 shows the system. However, the vehicle may contain 100 more, fewer, or different systems. It should be understood that while certain vehicle systems are defined separately, any or any of the systems, or parts thereof, may be combined or separated in other ways via hardware and / or software within the vehicle.

[0065] The vehicle 100 may include a propulsion system 150. The propulsion system 150 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems and / or combinations thereof, designed to provide powered motion for the vehicle 100. The propulsion system 150 may include a machine and an energy source.

[0066] The machine can be any currently known or subsequently developed suitable type of machine or engine. For example, the machine can be an internal combustion engine, an electric motor, a steam engine, and / or a Stirling engine, to name just a few possibilities. In some embodiments, the propulsion system could include multiple types of machines or engines. For example, a gasoline-electric hybrid vehicle could include a gasoline engine and an electric motor.

[0067] The energy source can be any suitable energy source that can be used to power the machine, at least partially. The machine can be configured to convert the energy source into mechanical energy. Examples of energy sources include gasoline, diesel, propane, hydrogen, other compressed gas-based fuels, ethanol, solar panels, batteries or accumulators, and / or other sources of electrical energy. Alternatively or additionally, the energy source can include fuel tanks, batteries or accumulators, capacitors, and / or flywheels. In some embodiments, the energy source can be used to provide energy to other systems of the vehicle.

[0068] Vehicle 100 may include wheels, tires, and / or tracks. Any suitable type of wheels, tires, and / or tracks may be used. In one or more arrangements, the wheels, tires, and / or tracks of Vehicle 100 may be configured to rotate differently relative to other wheels, tires, and / or tracks of Vehicle 100. The wheels, tires, and / or tracks may be made of any suitable material.

[0069] The vehicle 100 may include a braking system 155. The braking system 155 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems, and / or combinations thereof designed to brake the vehicle 100. For example, the braking system 155 may use friction to slow down the wheels / tires. The braking system 155 may convert the kinetic energy of the wheels / tires into electrical current.

[0070] Furthermore, the vehicle 100 may include a steering system 160. The steering system 160 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems and / or combinations thereof, designed to adjust the course of the vehicle 100.

[0071] The vehicle 100 may include a throttle system 165. The throttle system 165 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems and / or combinations thereof, designed to control the operating speed of a machine / engine of the vehicle 100 and, in turn, the speed of the vehicle 100.

[0072] The vehicle 100 may include a transmission system 170. The transmission system 170 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems, and / or combinations thereof, configured to transmit mechanical power from the engine / motor of the vehicle 100 to the wheels / tires. For example, the transmission system 170 may include a gearbox, a clutch, a differential, drive shafts, and / or other elements. In arrangements where the transmission system 170 includes drive shafts, the drive shafts may include one or more axles configured to be coupled to the wheels / tires.

[0073] The vehicle 100 may include a signaling system 175. The signaling system 175 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems, and / or combinations thereof, designed to provide the driver of the vehicle 100 with illumination and / or information relating to one or more aspects of the vehicle 100. For example, the signaling system 175 may provide information about the presence, position, size, and direction of travel of the vehicle and / or the driver's intentions with respect to direction and speed. For example, the signaling system 175 may include headlights, taillights, brake lights, hazard warning lights, and turn signal lights.

[0074] The vehicle 100 may include a navigation system 180. The navigation system 180 may include one or more currently known or subsequently developed mechanisms, devices, elements, components, systems, applications and / or combinations thereof, designed to determine the geographical location of the vehicle 100 and / or to determine a route for the vehicle 100.

[0075] The navigation system 180 can include one or more mapping applications to determine a route for the vehicle 100. For example, a driver or passenger can enter a starting point and a destination. The mapping application can determine one or more suitable routes between the starting point and the destination. A route can be selected based on one or more parameters (e.g., shortest distance, shortest travel time, etc.). In some configurations, the navigation system 180 can be configured to dynamically update the route while the vehicle 100 is in operation.

[0076] Navigation System 180 can include a global positioning system, a local positioning system, or a geolocation system. Navigation System 180 can be implemented with any of a number of satellite positioning systems, such as the United States Global Positioning System (GPS), the Russian GLONASS system, the European Galileo system, the Chinese BeiDou system, or any system that uses satellites from a combination of satellite systems, or any satellite system developed in the future, including the planned Chinese COMPASS system and the Indian regional satellite navigation system. Furthermore, Navigation System 180 can use the Transmission Control Protocol (TCP) and / or a Geographic Information System (GIS) and positioning services.

[0077] The navigation system 180 may include a transceiver trained to estimate the position of the vehicle 100 relative to the Earth. For example, the navigation system 180 may include a GPS transceiver to determine the latitude, longitude, and / or altitude of the vehicle. The navigation system 180 may use other systems (e.g., laser-based localization systems, inertial GPS, and / or camera-based localization) to determine the location of the vehicle 100.

[0078] Alternatively or additionally, the navigation system 180 can be based on access point geolocation services, such as those using the W3C Geolocation Application Programming Interface (API). With such a system, the location of the vehicle 100 can be determined by accessing location information servers, including, for example, the Internet Protocol (IP) address, Wi-Fi and Bluetooth Media Access Control (MAC) address, radio frequency identification (RFID), Wi-Fi connection tracking or device GPS, and Global System Mobile Communications (GSM) / Code Division Multiple Access (CDMA) cell IDs. It is therefore understood that the specific way in which the geographic position of the vehicle 100 is determined depends on the operation of the specific location tracking system used.

[0079] The processor 110 and / or the autonomous driving module 120 can be operationally connected to communicate with the various vehicle systems 145 and / or individual components thereof. For example, to access Fig. 1. To return to the previous point, the processor 110 and / or the autonomous driving module 120 communicate to send and / or receive information from the various vehicle systems 145 in order to control the movement, speed, maneuvering, course, direction, etc., of the vehicle 100. The processor 110 and / or the autonomous driving module 120 can control some or all of these vehicle systems 145 and can therefore be fully or partially autonomous.

[0080] The processor 110 and / or the autonomous driving module 120 can be operated to control the navigation and / or maneuvering of the vehicle 100 by controlling one or more of the vehicle systems 145 and / or components thereof. For example, when operating in autonomous mode, the processor 110 and / or the autonomous driving module 120 can control the direction and / or speed of the vehicle 100. The processor 110 and / or the autonomous driving module 120 can cause the vehicle 100 to accelerate (e.g., by increasing the supply of fuel to the machine), decelerate (e.g., by decreasing the fuel supply to the machine and / or by applying brakes), and / or change direction (e.g., by turning the two front wheels).As used herein, “cause” or “provoke” means to bring about, force, compel, direct, command, order and / or enable the occurrence of an event or action, or at least to be in a state in which such an event or action may occur either directly or indirectly.

[0081] The vehicle 100 can include one or more actuators 140. The actuators 140 can be any element or combination of elements capable of modifying, adjusting, and / or changing one or more of the vehicle systems 145 or components thereof in response to receiving signals or other inputs from the processor 110 and / or the autonomous driving module 120. Any suitable actuator can be used. For example, the one or more actuators 140 can include motors, pneumatic actuators, hydraulic pistons, relays, electromagnets, and / or piezoelectric actuators, to name just a few possibilities.

[0082] According to the arrangements described herein, the vehicle 100 can be configured to operate an autonomous vehicle in environments with obstructed occupant vision. According to the arrangements herein, the vehicle 100 (or one or more elements thereof) can be configured to determine an occupant vision area of ​​the external environment, a sensor detection area of ​​the sensor system 125 and / or the camera system 127, and / or to identify an information-relevant area along a current route of the vehicle 100 that is related to a planned future driving maneuver.

[0083] In one or more configurations, an action or measure can be taken in response to the determination that one or more detected objects in the external environment are located outside a specific occupant's field of vision. For example, the measure could be displaying a warning inside the vehicle 100. Alternatively or additionally, the measure could be causing a current driving maneuver of the vehicle 100 to be modified. These and other examples of possible measures are described in more detail throughout this document. In one or more configurations, the processor 110, the autonomous driving module 120, the vision analysis module 121, and / or other element(s) can be configured to determine whether one or more detected objects in the external environment are located outside a specific occupant's field of vision.

[0084] In one or more configurations, it can be determined whether at least a section of an information-relevant area is located outside a specific occupant's field of vision and a specific sensor detection range due to the presence of the detected obstacle object. In one or more configurations, as a reaction to such a determination, it can be determined whether a detected obstacle object is moving favorably with respect to a planned future driving maneuver of the vehicle 100. These and / or other determinations can be made, at least partially, by the processor 110, the autonomous driving module 120, the vision analysis module 121, the determination module 122 of an information-relevant area, the object recognition module 123, the object movement classification module 124, and / or other element(s).If it is determined in one or more arrangements that the detected obstacle object is moving favorably with respect to the planned future driving maneuver of vehicle 100, vehicle 100 can be instructed to implement the planned future driving maneuver while moving relative to the obstacle object in such a way that it is shielded by the obstacle object from potential objects that are located in the information-relevant area.

[0085] Having described the various potential systems, devices, elements, and / or components of vehicle 100, different methods for operating an autonomous vehicle in a view-blocking environment are now described. With reference to Fig. Section 2 now presents an example of another method for operating an autonomous vehicle in sections of a route with obstructed visibility. Several possible steps of Method 200 are now described. The in Fig. 2 illustrated procedures 200 refers to the above in relation to Fig. The embodiments described in Section 1 are applicable, but it is understood that Method 200 can be carried out with other suitable systems and arrangements. Moreover, Method 200 may include other steps not shown here, and indeed, Method 200 is not limited to performing any of the embodiments described in Section 1. Fig. to include step 2 shown. The steps illustrated here as part of Procedure 200 are not limited to this particular chronological order. In fact, some of the steps may be performed in a different order than shown, and / or at least some of the steps shown may be performed simultaneously.

[0086] In Block 210, an information-relevant area can be identified along at least one section of the route. The information-relevant area may be related to a future driving maneuver of the vehicle 100. The identification of the information-relevant area can be carried out by any suitable element or combination of elements of the vehicle 100. In one or more arrangements, the identification of the information-relevant area can be carried out, at least in part, by the information-relevant area determination module 122, the navigation system 180, and / or the processor 110. In some arrangements, the identification of the information-relevant area can be carried out continuously or at any suitable interval. Procedure 200 can proceed to Block 220.

[0087] Block 220 allows at least one section of the autonomous vehicle's external environment to be scanned or detected to detect the presence of objects within it. Specifically, at least one section of the autonomous vehicle's external environment can be scanned or detected to detect the presence of an obstacle object within it. An "obstacle object" is any object that blocks a section of the occupant's field of vision and / or the sensor detection area. Scanning or detecting the external environment to detect the presence of one or more obstacle objects within it can be performed by any suitable element or combination of elements of the vehicle 100. In one or more arrangements, the scanning or detection can be carried out by...The external environment is at least partially captured by the sensor system 125 (or a component thereof), the camera system 127 (or a part thereof), and / or the processor 110. Procedure 200 can proceed to block 230.

[0088] Block 230 allows the determination of an occupant's field of vision of the external environment. This determination can be performed by any suitable element or combination of elements of the vehicle 100. In one or more configurations, the determination of the occupant's field of vision can be performed by the sensor system 125, the camera system 127 (e.g., one or more occupant view cameras), the vision analysis module 121, and / or the processor 110. The determination of the occupant's field of vision can be performed continuously or at any suitable interval. The procedure 200 can then proceed to Block 240.

[0089] In block 240, a sensor detection range of the vehicle relative to the external environment can be determined. Determining the sensor detection range can be performed by any suitable element or combination of elements of the vehicle 100. In one or more arrangements, the sensor detection range can be determined by the sensor system 125, the camera system 127, the vision analysis module 121, and / or the processor 110. Determining the sensor detection range can be performed continuously or at any suitable interval. The procedure 200 can proceed to block 250.

[0090] Block 250 can determine whether at least one section of the information-relevant area is located outside both the occupant's field of vision and the sensor detection range due to the presence of the obstacle object. Such a determination can be carried out by any suitable element or combination of elements of the vehicle 100. For example, the determination can be performed in one or more arrangements by the processor 110, the sensor system 125, the camera system 127, the vision analysis module 121, and / or the determination module 122 of an information-relevant area.

[0091] In response to the determination that at least a portion of the information-relevant area is located outside both the occupant's field of vision and the sensor detection range due to the presence of the obstructing object, it can be determined whether the obstructing object is moving favorably with respect to a planned future driving maneuver of the vehicle 100. Such a determination can be performed by any suitable element or combination of elements of the vehicle 100. For example, in one or more arrangements, the determination can be performed by the processor 110, the sensor system 125, the camera system 127, the autonomous driving module 120, and / or the object motion classification module 124. The procedure can then proceed to block 260.

[0092] It can be determined whether the detected obstacle object is moving favorably or unfavorably with respect to the planned future driving maneuver of the vehicle 100. Such a determination can be carried out by any suitable element or combination of elements of the vehicle 100. For example, the determination can be carried out in one or more arrangements by the processor 110, the sensor system 125, the camera system 127, the autonomous driving module 120, and / or the object motion classification module 124.

[0093] In Block 260, the implementation of the planned driving maneuver of vehicle 100 can be initiated in response to the determination that the detected obstacle object is moving favorably with respect to the planned future driving maneuver of the vehicle. The planned future driving maneuver can be implemented while the vehicle is moving relative to the obstacle object, so that the obstacle object shields against potential objects located in the information-relevant area, in particular the at least one section of the information-relevant area that, due to the detected obstacle object, is outside both the occupant's field of vision and the sensor detection range.

[0094] In one or more configurations, the processor 110 and / or the autonomous driving module 120 can cause the vehicle 100 to execute the planned future driving maneuver. The processor 110 and / or the autonomous driving module 120 can be operationally connected to one or more of the vehicle systems 145 to initiate the execution of the planned future driving maneuver. In one or more configurations, the processor 110 and / or the autonomous driving module 120 can be operated to control the one or more actuators 140, which can control one or more of the vehicle systems 145 or parts thereof to execute the planned future driving maneuver.

[0095] It should be noted that initiating the planned future driving maneuver can be carried out automatically. In one or more instructions, a vehicle occupant (e.g., a driver and / or other passenger) can be requested to grant permission to execute the planned future driving maneuver. The vehicle occupant can be requested in any suitable manner. For example, a request can be presented on a display inside the vehicle. Alternatively or additionally, the request can be issued audibly to the vehicle occupant via one or more audio channels. Other forms of request can be used alternatively or additionally to the forms of request described above.In response to receiving an input that corresponds to a vehicle occupant's consent to the implementation of the future driving maneuver, vehicle 100 can be instructed to implement the planned future driving maneuver.

[0096] The planned future driving maneuver can be any type of driving maneuver. For example, the planned future driving maneuver could be crossing an intersection, making a right turn, a left turn, or even driving through a roundabout. A current route can include multiple planned future driving maneuvers.

[0097] Furthermore, any suitable movement of the vehicle 100 relative to the obstacle object, such that the obstacle object provides a shield against potential objects located in the information-relevant area, may be necessary. In one or more configurations, moving relative to the detected obstacle object may involve moving the obstacle object between the vehicle 100 and the information-relevant area 350. In some cases, moving relative to the detected obstacle object may involve the vehicle 100 moving forward at substantially the same speed as the detected obstacle object. In some cases, moving relative to the detected obstacle object may involve the vehicle 100 moving side by side with the detected obstacle object without moving in front of it.In one or more configurations, a predetermined lateral distance can be maintained between the vehicle 100 and the detected obstacle. In one or more configurations, a predetermined forward distance can be maintained between the vehicle and the detected obstacle. "Forward distance" means the distance between a front point of the detected obstacle and a front point of the vehicle. The front points can be the foremost points of the vehicle and / or the detected obstacle. The front points are determined with respect to the direction of travel of the vehicle and the detected obstacle.

[0098] In one or more configurations, initiating the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle can be a response to one or more additional factors. For example, it can be determined whether the detected obstacle is a large object. Such a determination can be made, for example, by the sensor system 125, the camera system 127, the processor 110, and / or the object recognition module 123. In one or more configurations, initiating the autonomous vehicle to execute the planned future driving maneuver while moving relative to the detected obstacle can also be a response to the determination that the detected obstacle is a large object.If a detected obstacle is determined to be large, the autonomous vehicle can be instructed to execute the planned future driving maneuver while moving relative to the detected obstacle. However, if a detected obstacle is determined to be small, the autonomous vehicle will not be instructed to execute the planned future driving maneuver while moving relative to the detected obstacle, as a small object may be poorly suited to shielding the vehicle from potential objects located within the information-relevant area.

[0099] If the vehicle is instructed to execute the planned future maneuver, procedure 200 can end. Alternatively, procedure 200 can return to block 210. As a further alternative, procedure 200 can include additional blocks (not shown). In some cases, vehicle 100 can continue moving relative to the detected obstacle object, at least until vehicle 100 passes through the information-relevant area and / or completes the planned future maneuver.

[0100] It should be noted that in one or more implementations, in response to the determination that the detected obstacle object is moving unfavorably with respect to the planned future driving maneuver of the vehicle, the planned future driving maneuver of vehicle 100 may not be implemented, or may not be implemented for a period of time and / or until a predetermined event occurs. For example, in response to the determination that the detected obstacle object is moving unfavorably with respect to the planned future driving maneuver of vehicle 100, the implementation of the planned future driving may be delayed until the information-relevant area is within at least one of the occupant's field of vision and / or the sensor detection range.For example, the vehicle 100 can wait to implement the planned future driving until the obstacle object has moved a sufficient distance so that the information-relevant area is within at least one of the occupant's field of vision and / or the sensor detection range.

[0101] A non-restrictive example of the operation of vehicle 100 in accordance with procedure 200 is now given with regard to the Fig. 3A and Fig. 3B described. For the purposes of this example, vehicle 100 can travel in an environment 300 that includes a first road 305 and a second road 310. As used herein, "road" means a thoroughfare, route, path, or way between two places on which a vehicle can travel. A road may be paved or otherwise improved to facilitate a vehicle's travel on it. In some cases, the road may be unpaved or dirt. A road may be a public road or a private road. The road may include or be part of one or more bridges, tunnels, retaining structures, junctions, intersections or crossings, interchanges, and toll roads.

[0102] The first road 305 and the second road 310 may intersect, forming an intersection 325. In one or more arrangements, traffic with respect to the intersection 325 may be regulated using any suitable traffic control device (e.g., stop signs, traffic lights, etc.). In one or more arrangements, the intersection 325 may not have any associated traffic control device. The first road 305 and the second road 310 may be oriented at any suitable angle to each other. For example, the first road 305 and the second road 310 may be oriented substantially at 90 degrees to each other, as in the Fig. 3A and Fig. Figure 3B shows that the first road 305 and the second road 310 can be aligned at an acute angle to each other in one or more arrangements. In one or more arrangements, the first road 305 and the second road 310 can be angled obtusely to each other. Furthermore, the intersection 325 can be formed by more than two roads in some arrangements.

[0103] The first road 305 may contain multiple lanes 306, 307, 308. As used herein, a "lane" is a portion of a road intended for use by a single line of vehicles and / or a portion of a road used by a single line of vehicles. In some cases, the one or more lanes 306, 307, 308 may be indicated by markings on the first road 305 or by some other suitable means. In some cases, the one or more lanes 306, 307, 308 may not be marked.

[0104] The first road 305 and the second road 310 may have any suitable design and / or arrangement. The first road 305 and / or the second road 310 may be designed for two directions of travel, including multiple lanes. For the purposes of this example, the first road 305 may include a first set of one or more lanes 303 and a second set of one or more lanes 304. The first set of lanes 303 may be designed or intended for vehicular traffic in a first direction 316. The second set of lanes 304 may be designed or intended for vehicular traffic in a second direction 317. The first direction 316 may be different from the second direction 317. For example, the first direction 316 may be substantially opposite to the second direction 317.

[0105] The first set of lanes 303 and the second set of lanes 304 can include any suitable type and / or number of lanes. For example, the Fig. 3A and Fig. 3B is an example where the first set of lanes 303 – at least with respect to the section of the first road 305 below the intersection 325 – may include two lanes 306, 307. The second set of lanes 304 may include a single lane 308.

[0106] The second road 310 may include a third set of one or more lanes 318 and a fourth set of one or more lanes 319. The third set of lanes 318 may be intended for vehicular traffic in a third direction 313. The fourth set of lanes 319 may be intended for vehicular traffic in a fourth direction 314. The third direction 313 may be different from the fourth direction 314. For example, the third direction 313 may be substantially opposite to the fourth direction 314.

[0107] The third set of lanes 318 and the fourth set of lanes 319 may include any suitable type and / or number of lanes. For example, the Fig. 3A and Fig. 3B is an example where the third set of lanes 318 may include a lane 311 and the fourth set of lanes 319 may include a lane 312.

[0108] It is understood that the arrangements shown and described herein in relation to the first road 305, the second road 310, and / or the intersection 325 are provided only as examples, and that the arrangements are not limited to the specific arrangements shown and described. Indeed, the arrangements described herein may be used in connection with roads that have any number, type, and / or arrangement of lanes.

[0109] Vehicle 100 can travel on the first road 305. Vehicle 100's current path may involve traveling forward on the first road 305 and passing through intersection 325. Vehicle 100 may approach intersection 325 while traveling in the first direction 316. As it approaches intersection 325, vehicle 100's current lane may be lane 306. "Current lane" refers to a lane in which a vehicle is currently traveling. Another vehicle (e.g., truck 330) may be in lane 307. Vehicle 100 and truck 330 may be stopped at intersection 325. Vehicle 100 and truck 330 may be instructed to stop before proceeding into intersection 325, for example, by a traffic control device.

[0110] One or more information-relevant areas along at least one segment of the route can be identified by the vehicle 100 (e.g., the determination module 122 of an information-relevant area, the navigation system 180, and / or the processor 110). The information-relevant area can be related to a planned future driving maneuver of the vehicle 100. In this example, the planned future driving maneuver can be driving forward through the intersection 325 in the first direction 316 on the first road 305. Consequently, an information-relevant area can include a section of lane 312 that is located (in the Fig. 3A and Fig. 3B) is located to the left of intersection 325, since vehicles moving in this area would be of interest to vehicle 100 as it travels on the first road 305 across intersection 325.

[0111] The vehicle 100 can determine an occupant's field of vision 360 of the external environment 300. However, the occupant's field of vision 360 may be impaired due to the presence of one or more obstacles (e.g., the truck 330).

[0112] In such a case, the occupant's field of vision 360 may not be as large as it would otherwise be in the absence of the truck 330.

[0113] Vehicle 100 can determine a sensor detection range 370. This sensor detection range 370 may be affected by the presence of one or more obstacles (e.g., truck 330). In such a case, the sensor detection range 370 may not be as large as it would otherwise be in the absence of truck 330.

[0114] The vehicle 100 (the vision analysis module 121, the determination module 122 of an information-relevant area and / or the processor 110) can determine whether at least one section of the information-relevant area 350 is located outside the defined occupant vision area 360 and the sensor detection area 370. As in the example of the Fig. As shown in Figure 3A, the information-relevant area 350 is located outside the defined occupant's field of vision 360 and the sensor detection area 370 due to the presence of the truck 330. Therefore, neither the sensor system 125 nor the vehicle occupant(s) (e.g., the driver) can detect the information-relevant area 350. Consequently, there would be an increased risk when carrying out the planned future driving maneuver (e.g., continuing on the first road 305 in the first direction 316) because insufficient information is available about the information-relevant area 350. In this example, another vehicle 380 may be present in the information-relevant area 350.

[0115] In response to the determination that at least a portion of the information-relevant area is located outside the defined occupant field of vision 360 and the defined sensor detection range 370, it can be determined whether the truck 330 is moving favorably with respect to the planned future driving maneuver of the vehicle 100. The vehicle 100 can monitor the truck 330 to determine its movement. In one or more configurations, the vehicle 100 can stop until it has determined whether the truck 330 is moving favorably with respect to the planned future driving maneuver of the vehicle 100. The movement of the truck 330 can be detected by the sensor system 125, the camera system 127, and / or the processor 110.The determination of whether the truck 330 is moving favorably or unfavorably with respect to the planned future driving maneuver of the vehicle 100 can be carried out by any suitable element or combination of elements of the vehicle 100. For example, the determination can be carried out in one or more arrangements by the processor 110, the sensor system 125, the camera system 127 (e.g., one or more occupant view cameras), the autonomous driving module 120, and / or the object motion classification module 124.

[0116] In this example, the truck 330 can move forward along the first road 305 in the first direction 316, as shown in Fig. 3B shown. Thus, truck 330 moves favorably with respect to the planned future driving maneuver of vehicle 100 (passing intersection 325 in the first direction 316 on the first road 305), since truck 330 moves in a direction and / or manner such that it will be located between the information-relevant area 350 and vehicle 100 while vehicle 100 passes intersection 325 in the first direction 316 on the first road 305. Such an arrangement is in Fig. 3B shown.

[0117] In response to the determination that truck 330 is moving favorably with respect to the planned future driving maneuver of vehicle 100, vehicle 100 can be caused to execute the planned future driving maneuver while moving relative to truck 330. In one or more arrangements, the processor 110 and / or the autonomous driving module 120 can cause vehicle 100 to execute the planned future driving maneuver. The processor 110 and / or the autonomous driving module 120 can be operationally connected to one or more of the vehicle systems 145 to execute the planned future driving maneuver. In one or more arrangements, the processor 110 and / or the autonomous driving module 120 can be operational to control one or more actuators 140, which can control one or more of the vehicle systems 145 or parts thereof to execute the planned future driving maneuver.

[0118] As mentioned above, the vehicle 100 moves relative to the truck 330. Any suitable relative motion can be implemented. For example, in one or more arrangements, the vehicle 100 can move at substantially the same speed as the truck 330. In one or more arrangements, the vehicle 100 can move side by side with the truck 330 while maintaining a predetermined minimum lateral distance 385. In one or more arrangements, the vehicle 100 can move forward without moving in front of the truck 330. In one or more arrangements, a predetermined front distance 386 can be maintained between the vehicle 100 and the truck 330.

[0119] In light of the foregoing, it is understood that the truck 330 can shield the vehicle 100 from potential objects (e.g., the vehicle 380) located in at least one section of the information-relevant area 350, which, due to the truck 330, lies outside the defined occupant vision area 360 and the defined sensor detection area 370. Such a procedure reduces the risk of being struck by an object (e.g., the vehicle 380) in the information-relevant area 350, since it is more likely that such an object would strike the truck 330 first.

[0120] Vehicle 100 can continue moving relative to the vehicle 330 up to any suitable point. For example, vehicle 100 can continue moving relative to truck 330 at least until it passes the information-relevant area 350. Alternatively or additionally, vehicle 100 can continue moving relative to truck 330 at least until it completes its planned future driving maneuver.

[0121] Another non-restrictive example of the operation of vehicle 100 in accordance with procedure 200 is now given in relation to the Fig. 4A and Fig. 4B described. For the purposes of this example, vehicle 100 can travel in an environment 400. For the sake of simplicity, environment 400 can be essentially identical to environment 300, at least with regard to the first and second roads 305 and 310. Accordingly, the preceding description of environment 300 applies equally to environment 400 and is included therein.

[0122] Vehicle 100 and truck 330 can be stopped at intersection 325. For the purposes of the Fig. In the example shown in 4A, the planned future driving maneuver could be a right turn into the second street, 310. While the following discussion of the Fig. 4A and Fig. 4B, which concerns a right-hand bend 499, it is understood that the arrangements are not limited to right-hand bends. In fact, the arrangements described herein can be used in conjunction with left-hand bends or even roundabouts.

[0123] One or more information-relevant areas along at least one section of the route can be identified by the vehicle 100 (e.g., the determination module 122 of an information-relevant area, the navigation system 180, and / or the processor 110). Since the planned future driving maneuver of the vehicle 100 is a right turn into the second street 310, an information-relevant area can include an area 350 of lane 312, which is located (in the Fig. 4A and Fig. 4B) is located to the left of intersection 325, since vehicles moving in this area 350 would be of interest to vehicle 100 as it turns right into the second street 310.

[0124] Vehicle 100 can determine an occupant field of vision 360 and a sensor detection range 370, both of which are obstructed by the presence of truck 330. Vehicle 100 can determine whether at least a portion of the information-relevant area 350 lies outside the determined occupant field of vision 360 and sensor detection range 370, as shown in Fig. Figure 4A shows that neither the sensor system 125 nor the vehicle occupant(s) (e.g., the driver) can detect the information-relevant area 350. Consequently, there would be an increased risk when carrying out the planned future driving maneuver (e.g., continuing on the first road 305 in the first direction 316), as insufficient information is available about the information-relevant area 350. In this example, another vehicle 380 may be present in the information-relevant area 350.

[0125] In response to the determination that at least a portion of the information-relevant area lies outside the defined occupant field of vision 360 and the defined sensor detection range 370, it can be determined whether the truck 330 is moving favorably with respect to the planned future driving maneuver of the vehicle 100. In this example, the truck 330 can proceed along the first road 305 in the first direction 316, as shown in Fig. 4B shown. Thus, truck 330 moves favorably with respect to the planned future driving maneuver of vehicle 100 (turning right into the second street 310), since truck 330 moves in a direction and / or manner such that it will be located between the information-relevant area 350 and vehicle 100, while vehicle 100 passes through the intersection 325 in the first direction 316 on the first street 305. Such an arrangement is in Fig. 4B shown.

[0126] In response to the determination that truck 330 is moving favorably with respect to the planned future driving maneuver of vehicle 100, vehicle 100 can be caused to execute the planned future driving maneuver while moving relative to truck 330. Any suitable relative movement can be implemented. For example, vehicle 100 can move in one or more arrangements at one or more speeds to complete the right turn 499, while truck 330 is held between vehicle 100 and the information-relevant area 350.

[0127] In light of the foregoing, it is understood that the truck 330 can shield the vehicle 100 from potential objects (e.g., the vehicle 380) located in at least one section of the information-relevant area 350, which, due to the truck 330, lies outside the defined occupant vision field 360 and the defined sensor detection area 370. Such a procedure reduces the risk of being struck by an object (e.g., the vehicle 380) in the information-relevant area 350, as it is more likely that such an object would strike the truck 330 first.

[0128] It is understood that arrangements described herein can provide numerous advantages, including one or more of those mentioned herein. For example, arrangements described herein can improve the performance of an autonomous vehicle when operating in environments with obstructed visibility. Arrangements described herein can create a degree of safety and confidence for vehicle occupants by using a physical barrier or moving shield in the environment to facilitate the execution of a planned future driving maneuver. Furthermore, arrangements described herein can potentially improve the safe operation of the vehicle.

[0129] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, procedures, and computer program products according to various embodiments. In this respect, each block in the flowcharts or block diagrams can represent a module, segment, or section of code, comprising one or more executable instructions for implementing the specified logical function(s). It should also be noted that the functions specified in the block may, in some alternative implementations, be executed in a different order than that shown in the figures. For example, two blocks shown consecutively may, in reality, be executed essentially simultaneously, or the blocks may, depending on the functionality involved, sometimes be executed in reverse order.

[0130] The systems, components, and / or processes described above may be implemented in hardware or a combination of hardware and software, or they may be implemented centrally in a processing system or in a distributed manner, with different elements distributed across several interconnected processing systems. Any type of processing system or other device designed to perform the procedures described herein is suitable. A typical combination of hardware and software may be a processing system with computer-usable program code that, when loaded and executed, controls the processing system to perform the procedures described herein.The systems, components, and / or processes may also be embedded in computer-readable memory, such as a computer program product or other machine-readable data program storage device, which physically embodies a program of instructions that can be executed by the machine to perform the procedures and processes described herein. These elements may also be embedded in an application product that includes all the features necessary to implement the procedures described herein and that can perform these procedures when loaded into a processing system.

[0131] Furthermore, arrangements described herein may be in the form of a computer program product contained on one or more computer-readable media with computer-readable program code stored thereon. Any combination of one or more computer-readable media may be used. The computer-readable medium may be a computer-readable signaling medium or a computer-readable storage medium. The term "computer-readable storage medium" means a non-transient storage medium. A computer-readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination thereof, but is not limited thereto.More specific examples (a non-exhaustive list) of computer-readable storage media would include the following: an electrical connection with one or more wires, a portable computer disk, a hard disk drive (HDD), a solid-state drive (SSD), random-access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. For the purposes of this document, computer-readable storage media can be any physical medium capable of containing or storing a program for use by or in conjunction with an instruction execution system, device, or apparatus.

[0132] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, cable, RF, etc., or any suitable combination thereof. Computer program code for performing operations on aspects of the present arrangements may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java™, Smalltalk, C++, or the like, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may run entirely on the user's computer, partially on the user's computer as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server.In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the internet using an internet service provider).

[0133] The terms "one" and "another," as used herein, are defined as one or more than one. The term "plural," as used herein, is defined as two or more than two. The term "one more," as used herein, is defined as at least one second or more. The terms "including" and / or "with," as used herein, are defined as comprehensive (i.e., open language). The phrase "at least one of ... and ...", as used herein, concerns and includes any and all possible combinations of one or more of the related listed items. As an example, the phrase "at least one of A, B, and C" includes only A, only B, only C, or any combination thereof (e.g., AB, AC, BC, or ABC).

Claims

[1] Method for operating an autonomous vehicle (100) in environments with occupant vision and vehicle sensor blocking, comprising: Identifying an information-relevant area (450) in an external environment with regard to a planned future driving maneuver of the autonomous vehicle (100), wherein the planned future driving maneuver includes at least crossing an intersection, making a right turn, making a left turn or passing through a roundabout; Scanning at least one section of the external environment of the autonomous vehicle (100) to detect the presence of an obstacle object located therein; in response to the determination that at least a portion of the information-relevant area (450) is located outside a certain occupant's field of vision and a certain sensor detection range due to the presence of the detected obstacle object, determine whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle (100); and In response to the determination that the detected obstacle object is moving favorably with respect to the planned future driving maneuver of the autonomous vehicle (100), causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object in such a way that it is shielded by the detected obstacle object from potential objects located in the at least one section of the information-relevant area (450) that is outside the specified occupant vision area and the specified sensor detection area due to the detected obstacle object, wherein causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object includes causing the autonomous vehicle (100) to execute the planned future driving maneuver.while moving side by side with the detected obstacle object, without moving in front of the detected obstacle object. [2] System for operating an autonomous vehicle (100) in environments with occupant vision and vehicle sensor blocking, the system comprising: a sensor system (125), wherein the sensor system (125) is configured to: to scan at least one section of the external environment of the autonomous vehicle (100) in order to detect the presence of an obstacle object located therein; and a processor (110) that is operationally connected to the sensor system (125), wherein the processor (110) is programmed to initiate executable operations which include: Identifying an information-relevant area (450) in an external environment with regard to a planned future driving maneuver of the autonomous vehicle (100), wherein the planned future driving maneuver includes at least crossing an intersection, making a right turn, making a left turn or passing through a roundabout; Determining an occupant's field of vision of the external environment; Determining a sensor detection range of the external environment; in response to the determination that at least a portion of the information-relevant area (450) is located outside the specified occupant vision area and the specified sensor detection area due to the presence of the detected obstacle object, determine whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle (100); and In response to the determination that the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle (100), causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object in such a way that it is shielded by the detected obstacle object from potential objects located in the at least one section of the information-relevant area (450) that is outside the specified occupant vision area and the specified sensor detection area due to the detected obstacle object, wherein causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object includes causing the autonomous vehicle (100) to execute the planned future driving maneuver.while moving side by side with the detected obstacle object, without moving in front of the detected obstacle object. [3] Computer program product for operating an autonomous vehicle (100) in environments with occupant vision and vehicle sensor blocking, wherein the computer program product comprises a computer-readable storage medium containing program code, wherein the program code is executable by a processor (110) to perform a method comprising: Identifying an information-relevant area (450) in an external environment with regard to a planned future driving maneuver of the autonomous vehicle (100), wherein the planned future driving maneuver includes at least crossing an intersection, making a right turn, making a left turn or passing through a roundabout; Scanning at least one section of the external environment of the autonomous vehicle (100) to detect the presence of an obstacle object located therein; Determining an occupant's field of vision of the external environment; Determining a sensor detection range of the external environment; in response to the determination that at least a portion of the information-relevant area (450) is located outside the specified occupant vision area and the specified sensor detection area due to the presence of the detected obstacle object, determine whether the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle (100); and In response to the determination that the detected obstacle object is moving favorably with respect to a planned future driving maneuver of the autonomous vehicle (100), causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object in such a way that it is shielded by the detected obstacle object from potential objects located in the at least one section of the information-relevant area (450) that is outside the specified occupant vision area and the specified sensor detection area due to the detected obstacle object, wherein causing the autonomous vehicle (100) to execute the planned future driving maneuver while moving relative to the detected obstacle object includes causing the autonomous vehicle (100) to execute the planned future driving maneuver.while moving side by side with the detected obstacle object, without moving in front of the detected obstacle object. [4] Method according to claim 1 or system according to claim 2 or computer program product according to claim 3, wherein causing the autonomous vehicle (100) to implement the planned future driving maneuver while moving relative to the detected obstacle object includes causing the autonomous vehicle (100) to implement the planned future driving maneuver while moving forward at substantially the same speed as the detected obstacle object. [5] Method according to claim 1 or system according to claim 2 or computer program product according to claim 3, wherein the initiation of the autonomous vehicle (100) to implement the planned future driving maneuver while moving relative to the detected obstacle object is carried out until: the autonomous vehicle (100) passes the information-relevant area (450); and / or The autonomous vehicle (100) has completed the planned future driving maneuver. [6] Method according to claim 1 or system according to claim 2 or computer program product according to claim 3, further comprising: Determine whether the detected obstacle object is a large object; and wherein causing the autonomous vehicle (100) to implement the planned future driving maneuver while moving relative to the detected obstacle object is furthermore a response to the determination that the detected obstacle object is a large object. [7] Method according to claim 1 or system according to claim 2 or computer program product according to claim 3, wherein the planned future driving maneuver involves driving in substantially the same direction as the detected obstacle object. [8] Method according to claim 1 or system according to claim 2 or computer program product according to claim 3, wherein the planned future driving maneuver involves a right turn or a left turn.

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