Determining changes in a driving environment based on vehicle behavior
First Claim
1. An apparatus comprising:
- a laser-based sensing system configured to identify information about a first vehicle in a driving environment of a second vehicle;
a computer-readable memory that stores;
detailed map information for the driving environment, the detailed map information comprising information about a road on which the first vehicle travels; and
first state information for the first vehicle, the first state information identifying positions traveled for the first vehicle over time; and
one or more processors of the second vehicle in communication with the computer-readable memory and the sensor, the one or more processors being configured to;
use the detailed map information to control the second vehicle in an autonomous driving mode;
receive sensor information from the laser-based sensing system, the sensor information including information about the first vehicle in the driving environment for a predetermined period of time;
determine the first state information based on the received sensor information;
determine a first trajectory based on the first state information, the first trajectory corresponding to an actual path taken by the first vehicle for the predetermined period of time;
determine an expected trajectory for the first vehicle based on the detailed map information;
compare the determined expected trajectory with the determined first trajectory; and
stop using the detailed map information to control the second vehicle in the autonomous driving mode based on the comparison.
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Accused Products
Abstract
A method and apparatus are provided for determining whether a driving environment has changed relative to previously stored information about the driving environment. The apparatus may include an autonomous driving computer system configured to detect one or more vehicles in the driving environment, and determine corresponding trajectories for those detected vehicles. The autonomous driving computer system may then compare the determined trajectories to an expected trajectory of a hypothetical vehicle in the driving environment. Based on the comparison, the autonomous driving computer system may determine whether the driving environment has changed and/or a probability that the driving environment has changed, relative to the previously stored information about the driving environment.
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Citations
20 Claims
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1. An apparatus comprising:
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a laser-based sensing system configured to identify information about a first vehicle in a driving environment of a second vehicle; a computer-readable memory that stores; detailed map information for the driving environment, the detailed map information comprising information about a road on which the first vehicle travels; and first state information for the first vehicle, the first state information identifying positions traveled for the first vehicle over time; and one or more processors of the second vehicle in communication with the computer-readable memory and the sensor, the one or more processors being configured to; use the detailed map information to control the second vehicle in an autonomous driving mode; receive sensor information from the laser-based sensing system, the sensor information including information about the first vehicle in the driving environment for a predetermined period of time; determine the first state information based on the received sensor information; determine a first trajectory based on the first state information, the first trajectory corresponding to an actual path taken by the first vehicle for the predetermined period of time; determine an expected trajectory for the first vehicle based on the detailed map information; compare the determined expected trajectory with the determined first trajectory; and stop using the detailed map information to control the second vehicle in the autonomous driving mode based on the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for controlling a first vehicle, the method comprising:
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using, by one or more processors, detailed map information to control the first vehicle in an autonomous driving mode; receiving, with the one or more processors, sensor information including information about a second vehicle in a driving environment of the first vehicle for a predetermined period of time; determining, with the one or more processors of the first vehicle, first state information based on the received sensor information, the first state information identifying positions traveled for the second vehicle over time; determining, with the one or more processors of the first vehicle, a first trajectory based on the first state information, the first trajectory corresponding to an actual path taken by the second vehicle for the predetermined period of time; determining, with the one or more processors of the first vehicle, an expected trajectory for the second vehicle based on detailed map information, the detailed map information comprising information about the driving environment; comparing the determined expected trajectory with the determined first trajectory; and stopping, by the one or more processors, using the detailed map information to control the first vehicle in the autonomous driving mode based on the comparison. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification