Controlling vehicle sensors based on dynamic objects
First Claim
1. A method for controlling a lidar device of a vehicle, the method comprising:
- receiving sensor data generated by one or more sensors of the vehicle, wherein the one or more sensors are configured to sense an environment through which the vehicle is moving;
identifying, by one or more processors and based on the received sensor data, one or more current and one or more predicted positions of one or more dynamic objects that are currently moving, or are capable of movement, within the environment, wherein identifying a predicted position of at least one of the dynamic objects is based at least in part on applying, to the at least one dynamic object, one or more rules of the road on which the at least one dynamic object is operating; and
causing, by one or more processors and based on the current and predicted positions of the dynamic objects, an area of focus of the lidar device to be adjusted, wherein causing the area of focus to be adjusted includes causing a spatial distribution of scan lines produced by the lidar device to be adjusted, comprising increasing a density of the scan lines in one or more regions associated with the current and/or predicted positions of the dynamic objects.
5 Assignments
0 Petitions
Accused Products
Abstract
A method for controlling at least a first vehicle sensor includes receiving sensor data generated by one or more vehicle sensors that are configured to sense an environment through which the vehicle is moving, and identifying, based on the received sensor data, one or more current and/or predicted positions of one or more dynamic objects that are currently moving, or are capable of movement, within the environment. The method also includes causing, based on the current and/or predicted positions of the dynamic objects, an area of focus of the first sensor to be adjusted, at least by causing (i) a field of regard of the first sensor, and/or (ii) a spatial distribution of scan lines produced by the first sensor, to be adjusted.
-
Citations
30 Claims
-
1. A method for controlling a lidar device of a vehicle, the method comprising:
-
receiving sensor data generated by one or more sensors of the vehicle, wherein the one or more sensors are configured to sense an environment through which the vehicle is moving; identifying, by one or more processors and based on the received sensor data, one or more current and one or more predicted positions of one or more dynamic objects that are currently moving, or are capable of movement, within the environment, wherein identifying a predicted position of at least one of the dynamic objects is based at least in part on applying, to the at least one dynamic object, one or more rules of the road on which the at least one dynamic object is operating; and causing, by one or more processors and based on the current and predicted positions of the dynamic objects, an area of focus of the lidar device to be adjusted, wherein causing the area of focus to be adjusted includes causing a spatial distribution of scan lines produced by the lidar device to be adjusted, comprising increasing a density of the scan lines in one or more regions associated with the current and/or predicted positions of the dynamic objects. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
-
-
22. A non-transitory computer-readable medium storing thereon instructions executable by one or more processors to implement a sensor control architecture for controlling a lidar device of a vehicle, the sensor control architecture being configured to:
-
receive sensor data generated by one or more sensors of the vehicle, wherein the one or more sensors are configured to sense an environment through which the vehicle is moving; identify, based on the received sensor data, one or more current and one or more predicted positions of one or more dynamic objects that are currently moving, or are capable of movement, within the environment, wherein identifying a predicted position of at least one of the dynamic objects is based at least in part on applying, to the at least one dynamic object, one or more rules of the road on which the at least one dynamic object is operating; and cause, based on the current and predicted positions of the dynamic objects, an area of focus of the lidar device to be adjusted, at least by causing a spatial distribution of scan lines produced by the lidar device to be adjusted, comprising increasing a density of the scan lines in one or more regions associated with the current and/or predicted positions of the dynamic objects. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30)
-
Specification