MODIFYING BEHAVIOR OF AUTONOMOUS VEHICLES BASED ON SENSOR BLIND SPOTS AND LIMITATIONS
First Claim
1. A method comprising:
- generating, for each given sensor of a plurality of sensors for detecting objects in a vehicle'"'"'s environment, a 3D model of the given sensor'"'"'s field of view;
receiving weather information, the weather information including one or more of reports, radar information, forecasts and real-time measurements concerning actual or expected weather conditions in the vehicle'"'"'s environment;
adjusting one or more characteristics of the plurality of 3D models based on the received weather information to account for an impact of the actual or expected weather conditions on one or more of the plurality of sensors;
after the adjusting, aggregating, by a processor, the plurality of 3D models to generate a comprehensive 3D model;
combining the comprehensive 3D model with detailed map information; and
using the combined comprehensive 3D model with detailed map information to maneuver the vehicle.
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Accused Products
Abstract
Aspects of the present disclosure relate generally to modeling a vehicle'"'"'s view of its environment. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may an individual 3D model of that sensor'"'"'s field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. A model of the vehicle'"'"'s environment may be computed based on the combined comprehensive 3D model and detailed map information and may be used to maneuver the vehicle.
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Citations
20 Claims
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1. A method comprising:
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generating, for each given sensor of a plurality of sensors for detecting objects in a vehicle'"'"'s environment, a 3D model of the given sensor'"'"'s field of view; receiving weather information, the weather information including one or more of reports, radar information, forecasts and real-time measurements concerning actual or expected weather conditions in the vehicle'"'"'s environment; adjusting one or more characteristics of the plurality of 3D models based on the received weather information to account for an impact of the actual or expected weather conditions on one or more of the plurality of sensors; after the adjusting, aggregating, by a processor, the plurality of 3D models to generate a comprehensive 3D model; combining the comprehensive 3D model with detailed map information; and using the combined comprehensive 3D model with detailed map information to maneuver the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising:
a processor configured to; generate, for each given sensor of a plurality of sensors for detecting objects in a vehicle'"'"'s environment, a 3D model of the given sensor'"'"'s field of view; receive weather information, the weather information including one or more of reports, radar information, forecasts and real-time measurements concerning actual or expected weather conditions in the vehicle'"'"'s environment; adjust one or more characteristics of the plurality of 3D models based on the received weather information to account for an impact of the actual or expected weather conditions on one or more of the plurality of sensors; after the adjusting, aggregate the plurality of 3D models to generate a comprehensive 3D model; combine the comprehensive 3D model with detailed map information; and use the combined comprehensive 3D model with detailed map information to maneuver the vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A tangible, non-transitory computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method, the method comprising:
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generating, for each given sensor of a plurality of sensors for detecting objects in a vehicle'"'"'s environment, a 3D model of the given sensor'"'"'s field of view; receiving weather information, the weather information including one or more of reports, radar information, forecasts and real-time measurements concerning actual or expected weather conditions in the vehicle'"'"'s environment; adjusting one or more characteristics of the plurality of 3D models based on the received weather information to account for an impact of the actual or expected weather conditions on one or more of the plurality of sensors; after the adjusting, aggregating the plurality of 3D models to generate a comprehensive 3D model; combining the comprehensive 3D model with detailed map information; and using the combined comprehensive 3D model with detailed map information to maneuver the vehicle. - View Dependent Claims (18, 19, 20)
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Specification