Systems and methods for entering traffic flow in autonomous vehicles
First Claim
1. An obstacle management method comprising:
- determining, with a processor, an intended path of a vehicle, wherein the intended path includes an intersection;
receiving, via one or more sensing devices, sensor data relating to an environment associated with the vehicle;
determining, with a processor, the presence of an obstacle in the environment that at least partially occludes a view of the one or more sensing devices of a first lane of the intersection;
determining, with a processor, at least one of a pose and a position of the vehicle with respect to the obstacle that does not significantly obstruct the first lane;
controlling, with a processor, the vehicle based on the at least one of the pose and the position;
monitoring, with a processor, the first lane via the first sensing device to determine when the intended path is clear; and
controlling the vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear.
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Accused Products
Abstract
Systems and method are provided for controlling a vehicle. In one embodiment, an obstacle management method includes receiving, via one or more sensing devices, sensor data relating to an environment associated with a vehicle, wherein the vehicle is substantially stationary and has an intended path corresponding to entering a traffic flow of a first lane. The method includes determining the presence of an obstacle that at least partially occludes a view of the first lane by a first sensing device of the one or more sensing devices, and positioning, with a processor, the vehicle with respect to the obstacle to improve the view of the first lane by the first sensing device without significantly obstructing the first lane. The first lane is then monitored via the first sensing device to determine when the intended path clear.
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Citations
20 Claims
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1. An obstacle management method comprising:
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determining, with a processor, an intended path of a vehicle, wherein the intended path includes an intersection; receiving, via one or more sensing devices, sensor data relating to an environment associated with the vehicle; determining, with a processor, the presence of an obstacle in the environment that at least partially occludes a view of the one or more sensing devices of a first lane of the intersection; determining, with a processor, at least one of a pose and a position of the vehicle with respect to the obstacle that does not significantly obstruct the first lane; controlling, with a processor, the vehicle based on the at least one of the pose and the position; monitoring, with a processor, the first lane via the first sensing device to determine when the intended path is clear; and controlling the vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer implemented system for controlling a vehicle, comprising:
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a non-transitory computer readable medium comprising; an obstacle detection module, configured to, by a processor; receive, via one or more sensing devices, sensor data relating to an environment associated with a vehicle; determine, from the sensor data, the presence of an obstacle that at least partially occludes a view of the one or more sensing devices of a first lane of an intersection of an intended path; a positioning module configured to, by a processor; determine, with a processor, at least one of a pose and a position of the vehicle with respect to the obstacle without significantly obstructing the first lane; control, with a processor, the vehicle based on the at least one of the pose and the position; and a clearing module configured to, by a processor; monitor the first lane via the first sensing device to determine when the intended path is clear; and control the vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An autonomous vehicle, comprising:
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a plurality of sensing devices that provide sensor data; and a controller that, by a processor and based on the sensor data; receives, via one or more sensing devices, sensor data relating to an environment associated with a vehicle, wherein the vehicle is substantially stationary and has an intended path corresponding to entering a traffic flow of a first lane; determines, with the sensor data, the presence of an obstacle that at least partially occludes a view of the one or more sensing devices of a first lane of the intersection; determines at least one of a pose and a position of the vehicle with respect to the obstacle that does not significantly obstruct the first lane; controls the vehicle based on the at least one of the pose and the position; monitors the first lane via the first sensing device to determine when the intended path is clear; and controls the autonomous vehicle to enter the traffic flow of the first lane when it is determined that the intended path is clear. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification