Intelligent ladar system with low latency motion planning updates
First Claim
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1. A system for vehicle motion planning, the system comprising:
- a sensor; and
a motion planning computer system in communication with the sensor;
wherein the sensor has a field of view and is configured to detect a threatening or anomalous condition in the field of view;
wherein the motion planning computer system is configured with a motion planning loop; and
wherein the sensor and motion planning computer system are configured to cooperate such that the sensor is configured to provide a priority flag to the motion planning computer system that is indicative of the detected condition to thereby insert priority data about the detected condition into the motion planning loop.
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Abstract
Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor'"'"'s field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. The ladar system can perform compressive sensing to target the field of view with a plurality of ladar pulses.
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Citations
65 Claims
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1. A system for vehicle motion planning, the system comprising:
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a sensor; and a motion planning computer system in communication with the sensor; wherein the sensor has a field of view and is configured to detect a threatening or anomalous condition in the field of view; wherein the motion planning computer system is configured with a motion planning loop; and wherein the sensor and motion planning computer system are configured to cooperate such that the sensor is configured to provide a priority flag to the motion planning computer system that is indicative of the detected condition to thereby insert priority data about the detected condition into the motion planning loop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 16, 17, 18, 19, 22)
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12. A system for vehicle motion planning, the system comprising:
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a sensor; and a motion planning computer system in communication with the sensor; wherein the sensor has a field of view and is configured to detect a threatening or anomalous condition in the field of view; wherein the motion planning computer system is configured with a motion planning loop; wherein the sensor and motion planning computer system are configured to cooperate such that the sensor is configured to insert priority data indicative of the detected condition into the motion planning loop; wherein the sensor comprises a ladar system and a camera; and wherein the camera is configured to detect a shimmer event as the detected condition. - View Dependent Claims (45, 46, 47, 48, 49, 50, 51)
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13. A system for vehicle motion planning, the system comprising:
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a sensor; and a motion planning computer system in communication with the sensor; wherein the sensor has a field of view and is configured to detect a threatening or anomalous condition in the field of view; wherein the motion planning computer system is configured with a motion planning loop; wherein the sensor and motion planning computer system are configured to cooperate such that the sensor is configured to insert priority data indicative of the detected condition into the motion planning loop; wherein the sensor comprises a ladar system and a camera; and wherein the camera is configured to detect a shiny object event as the detected condition. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58)
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14. A system for vehicle motion planning, the system comprising:
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a sensor; and a motion planning computer system in communication with the sensor; wherein the sensor has a field of view and is configured to detect a threatening or anomalous condition in the field of view; wherein the motion planning computer system is configured with a motion planning loop; wherein the sensor and motion planning computer system are configured to cooperate such that the sensor is configured to insert priority data indicative of the detected condition into the motion planning loop; wherein the sensor comprises a ladar system and a camera; and wherein the ladar system and the camera are configured to cooperate via cross-cueing. - View Dependent Claims (15, 59, 60, 61, 62, 63, 64, 65)
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20. A system for vehicle motion planning, the system comprising:
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a sensor; and a motion planning computer system in communication with the sensor; wherein the sensor has a field of view and is configured to detect a threatening or anomalous condition in the field of view; wherein the motion planning computer system is configured with a motion planning loop; and wherein the sensor and motion planning computer system are configured to cooperate such that the sensor is configured to insert priority data indicative of the detected condition into the motion planning loop; and wherein the sensor comprises a ladar system, and wherein the ladar system includes a ladar receiver that comprises a protection circuit configured to reduce saturation from high energy interference. - View Dependent Claims (21)
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23. A vehicle motion planning method comprising:
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a sensor detecting a threatening or anomalous condition within a field of view, wherein the sensor includes a ladar system; the sensor interrupting a motion planning loop of a motion planning computer system based on the detected condition; the ladar system performing compressive sensing to target the field of view with a plurality of ladar pulses; and the motion planning computer system making a decision about vehicle motion in response to the interrupting; and wherein the interrupting includes the ladar system asserting a priority flag for receipt by the motion planning computer system in conjunction with a ladar frame. - View Dependent Claims (24, 44)
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25. A vehicle motion planning method comprising:
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a sensor detecting a threatening or anomalous condition within a field of view, wherein the sensor includes a ladar system; the sensor interrupting a motion planning loop of a motion planning computer system based on the detected condition; the ladar system performing compressive sensing to target the field of view with a plurality of ladar pulses; the motion planning computer system making a decision about vehicle motion in response to the interrupting; and the ladar system re-tasking itself to probe a region within the field of view corresponding to the detected condition with a plurality of ladar pulses. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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Specification