Obstacle evaluation technique
First Claim
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1. A method comprising:
- a vehicle system employing at least one sensor to collect data relating to a plurality of obstacles;
the vehicle system identifying from the plurality of obstacles an obstacle pair, the obstacle pair including a first obstacle and a second obstacle;
the vehicle system engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle,wherein the evaluation process includes at least one of the follow;
(i) a determination of whether a change in distance between the first and second obstacles exceeds a distance threshold,(ii) a determination of whether a speed differential between the first and second obstacles exceeds a speed threshold, and(iii) a determination of whether an orientation differential between the first and second obstacles exceeds an orientation threshold; and
based on the evaluation process, the vehicle system making a determination of whether the first obstacle and the second obstacle are two separate obstacles.
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Abstract
A vehicle configured to operate in an autonomous mode may engage in an obstacle evaluation technique that includes employing a sensor system to collect data relating to a plurality of obstacles, identifying from the plurality of obstacles an obstacle pair including a first obstacle and a second obstacle, engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, and in response to engaging in the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles.
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Citations
13 Claims
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1. A method comprising:
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a vehicle system employing at least one sensor to collect data relating to a plurality of obstacles; the vehicle system identifying from the plurality of obstacles an obstacle pair, the obstacle pair including a first obstacle and a second obstacle; the vehicle system engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle,wherein the evaluation process includes at least one of the follow; (i) a determination of whether a change in distance between the first and second obstacles exceeds a distance threshold, (ii) a determination of whether a speed differential between the first and second obstacles exceeds a speed threshold, and (iii) a determination of whether an orientation differential between the first and second obstacles exceeds an orientation threshold; and based on the evaluation process, the vehicle system making a determination of whether the first obstacle and the second obstacle are two separate obstacles. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method comprising:
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a vehicle system using a sensor system to collect data for a first obstacle and a second obstacle, the collected data including at least one of speed data, distance data, and orientation data; the vehicle system engaging in a first evaluation process by comparing the collected data and determining whether a first threshold is met; based on the first evaluation process, the vehicle system making a first determination of whether the first obstacle and the second obstacle are two separate obstacles; the vehicle system detecting that one or more environmental conditions have changed and responsively changing the first threshold to a second threshold; the vehicle system engaging in a second evaluation process by comparing the collected data and determining whether the second threshold is met; and based on the second evaluation process, making a second determination of whether the first obstacle and the second obstacle are two separate obstacles. - View Dependent Claims (8, 9, 10)
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11. A non-transitory computer readable medium (CRM) having stored thereon instructions executable by a computing device to cause the computing device to perform functions, the functions comprising:
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employing at least one sensor to collect data relating to a plurality of obstacles; identifying from the plurality of obstacles an obstacle pair, the obstacle pair including a first obstacle and a second obstacle; engaging in an evaluation process by comparing the data collected for the first obstacle to the data collected for the second obstacle, wherein the evaluation process includes at least one of the following; (i) a determination of whether a change in distance between the first and second obstacles exceeds a distance threshold, (ii) a determination of whether a speed differential between the first and second obstacles exceeds a speed threshold, and (iii) a determination of whether an orientation differential between the first and second obstacles exceeds an orientation threshold; and based on the evaluation process, making a determination of whether the first obstacle and the second obstacle are two separate obstacles. - View Dependent Claims (12, 13)
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Specification