Systems and methods for determining whether a driving environment has changed
First Claim
1. An apparatus:
- memory configured to store map information including first location information including an expected location of a first object corresponding to a prior observation of the first object in a driving environment of a vehicle, the first object having been identified as a primary object for use in determining whether the driving environment has changed; and
a processor in communication with the computer-readable memory, the processor being configured to;
receive sensor information for a second object having been detected in the driving environment corresponding to the first object;
determine second location information for the second object based on the received sensor information;
determine a first discrepancy metric by comparing the first location information with the second location information;
determine a confidence probability that the driving environment has changed based on the first discrepancy metric; and
,determine that the driving environment has changed when the confidence probability exceeds a confidence probability threshold.
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Accused Products
Abstract
A autonomous driving computer system determines whether a driving environment has changed. One or more objects and/or object types in the driving environment may be identified as primary objects. The autonomous driving computer system may be configured to detect the primary objects and/or object types, and compare the detected objects and/or object types with the previous known location of the detected object and/or object types. The autonomous driving computer system may obtain several different metrics to facilitate the comparison. A confidence probability obtained from the comparison may indicate the degree of confidence that the autonomous driving computer system has in determining that the driving environment has actually changed.
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Citations
20 Claims
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1. An apparatus:
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memory configured to store map information including first location information including an expected location of a first object corresponding to a prior observation of the first object in a driving environment of a vehicle, the first object having been identified as a primary object for use in determining whether the driving environment has changed; and a processor in communication with the computer-readable memory, the processor being configured to; receive sensor information for a second object having been detected in the driving environment corresponding to the first object; determine second location information for the second object based on the received sensor information; determine a first discrepancy metric by comparing the first location information with the second location information; determine a confidence probability that the driving environment has changed based on the first discrepancy metric; and
,determine that the driving environment has changed when the confidence probability exceeds a confidence probability threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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receiving, by a processor, sensor information from a sensor identifying a first object having been detected in the driving environment; determining, by the processor, first location information for the first object based on the received sensor information; retrieving, by the processor, map information corresponding to the first object including second location information including an expected location of a second object based on a prior observed location of the first object in the driving environment of the vehicle, the second object having been identified as a primary object for use in determining whether a driving environment has changed; determining, by the processor, a first discrepancy metric by comparing the first location information with the second location information; determining, by the processor, a confidence probability that the driving environment has changed from the prior observation based on the first discrepancy metric; and
,determining, by the processor, that the driving environment has changed from the prior observation by comparing the confidence probability with a confidence probability threshold. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 20)
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19. A non-transitory, tangible computer-readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
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receiving sensor information from a sensor identifying a first object having been detected in the driving environment; determining first location information for the first object based on the received sensor information; retrieving map information corresponding to the first object including second location information including an expected location of a second object based on a prior observed location of the first object in the driving environment of the vehicle, the second object having been identified as a primary object for use in determining whether a driving environment has changed; determining a first discrepancy metric by comparing the first location information with the second location information; determining a confidence probability that the driving environment has changed from the prior observation based on the first discrepancy metric; and
,determining that the driving environment has changed from the prior observation by comparing the confidence probability with a confidence probability threshold.
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Specification