Actively Modifying a Field of View of an Autonomous Vehicle in View of Constraints

• US 20130245877A1
• Filed: 03/16/2012
• Published: 09/19/2013
• Est. Priority Date: 03/16/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Ferguson, David I., Zhu, Jiajun
• Granted Patent: US 9,760,092 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

Claims

1. A method comprising:

causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;

determining a desired field of view in which the portion of the environment is not obscured;

based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view; and

modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

2. The method of claim 1, wherein the set of constraints comprises at least one of constraints based on traffic laws and constraints based on passenger comfort.

3. The method of claim 1, wherein determining the desired field of view comprises:

detecting an obstacle in the first field of view; and

in response to detecting the obstacle, determining the desired field of view.

4. The method of claim 1, wherein determining the desired field of view comprises:

estimating a location of the vehicle;

detecting that the location of the vehicle is near a predetermined location;

in response to detecting that the location of the vehicle is near the predetermined location, determining the desired field of view.

5. The method of claim 1, wherein modifying the position of the vehicle comprises modifying at least one of a speed of the vehicle and an acceleration of the vehicle.

6. The method of claim 1, wherein each constraint in the set of constraints is associated with a respective weighting according to an importance of adhering to the constraint.

7. The method of claim 1, further comprising:

determining a requested field of view for an external sensor, wherein the external sensor is physically separate from the vehicle;

sending to the external sensor a request for the requested field of view; and

receiving from the external sensor information sensed by the external sensor in the requested field of view.

8. The method of claim 1, wherein the second field of view is different than the desired field of view.

9. The method of claim 1, wherein causing the sensor to sense information in the second field of view further comprises modifying at least one of a position and an orientation of the sensor.

10. An autonomous vehicle comprising:

a sensor;

at least one processor; and

data storage comprising;

instructions executable by the at least one processor to;

(a) cause the sensor to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;

(b) determine a desired field of view in which the portion of the environment is not obscured;

(c) based on the desired field of view and a set of constraints for the vehicle, determine a second field of view in which the portion of the environment is less obscured than in the first field of view; and

(d) modify a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

11. The autonomous vehicle of claim 10, wherein the set of constraints comprises at least one of constraints based on traffic laws and constraints based on passenger comfort.

12. The autonomous vehicle of claim 10, wherein determining the desired field of view comprises:

detecting an obstacle in the first field of view; and

in response to detecting the obstacle, determining the desired field of view.

13. The autonomous vehicle of claim 10, further comprising a location sensor, wherein determining the desired field of view comprises:

causing the location sensor to estimate a location of the vehicle;

detecting that the location of the vehicle is near a predetermined location; and

in response to detecting that the location of the vehicle is near the predetermined location, determining the desired field of view.

14. The autonomous vehicle of claim 10, further comprising a vehicle control system configured to modify the position of the vehicle.

15. The autonomous vehicle of claim 10, further comprising an actuator configured to modify at least one of a position and an orientation of the sensor, wherein causing the sensor to sense information in the second field of view further comprises modifying at least one of a position and an orientation of the sensor.

16. The autonomous vehicle of claim 10, further comprising:

an external sensor interface, wherein the instructions are further executable by the processor to;

(i) determine a requested field of view for an external sensor, wherein the external sensor is physically separate from the vehicle,

(ii) cause the external sensor interface to send to the external sensor a request for the requested field of view, and

(iii) receive via the external sensor interface information sensed by the external sensor in the requested field of view.

17. The autonomous vehicle of claim 10, wherein the sensor comprises at least one of a radar sensor, a laser sensor, a sonar sensor, and a camera.

18. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform the functions of:

causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;

determining a desired field of view in which the portion of the environment is not obscured;

based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view; and

modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

19. The non-transitory computer-readable medium of claim 18, wherein the set of constraints comprises at least one of constraints based on traffic laws and constraints based on passenger comfort.

20. The non-transitory computer-readable medium of claim 18, wherein the computing device is in the vehicle.