OCCLUDED OBSTACLE CLASSIFICATION FOR VEHICLES
First Claim
1. An obstacle classification method for a vehicle, the method comprising:
- acquiring, using one or more sensors, sensor data of at least a portion of an external environment of the vehicle;
identifying, using a processor, an obstacle candidate based on the acquired sensor data;
determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate;
determining a classification for the obstacle candidate based on the determined occlusion status;
determining a driving maneuver for the vehicle at least partially based on the determined classification for the obstacle candidate; and
causing the vehicle to implement the determined driving maneuver.
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Accused Products
Abstract
Obstacles located in an external environment of a vehicle can be classified. At least a portion of the external environment can be sensed using one or more sensors to acquire sensor data. An obstacle candidate can be identified based on the acquired sensor data. An occlusion status for the identified obstacle candidate can be determined. The occlusion status can be a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate. A classification for the obstacle candidate can be determined based on the determined occlusion status. A driving maneuver for the vehicle can be determined at least partially based on the determined classification for the obstacle candidate. The vehicle can be caused to implement the determined driving maneuver. The vehicle can be an autonomous vehicle.
67 Citations
20 Claims
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1. An obstacle classification method for a vehicle, the method comprising:
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acquiring, using one or more sensors, sensor data of at least a portion of an external environment of the vehicle; identifying, using a processor, an obstacle candidate based on the acquired sensor data; determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate; determining a classification for the obstacle candidate based on the determined occlusion status; determining a driving maneuver for the vehicle at least partially based on the determined classification for the obstacle candidate; and causing the vehicle to implement the determined driving maneuver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An obstacle classification system for a vehicle, the system comprising:
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a sensor system including one or more sensors, the one or more sensors being configured to acquire sensor data of at least a portion of an external environment of the vehicle; and a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising; identifying an obstacle candidate based on the acquired sensor data; determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate; determining a classification for the obstacle candidate based on the determined occlusion status; determining a driving maneuver for the vehicle at least partially based on the determined classification for the obstacle candidate; and causing the vehicle to implement the determined driving maneuver. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification