Occluded area detection with static obstacle maps

• US 9,910,442 B2
• Filed: 06/28/2016
• Issued: 03/06/2018
• Est. Priority Date: 06/28/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Kamata, Nobuhide, Mei, Xue, Sakai, Katsuhiro
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US15/195,770
• Publication Number:
  US 20170371338A1
• Time in Patent Office: 616 Days
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/93 for anti-collision purposes
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Ray tracing and static obstacle maps can be used in the operation of a vehicle. Sensor data of at least a portion of an external environment of the vehicle can be acquired. A dynamic obstacle in the external environment of the vehicle can be detected based on the acquired sensor data. In response to detecting a dynamic obstacle, it can be determined whether a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map. Responsive to determining that a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map, a driving maneuver for the vehicle can be determined based on at least the dynamic obstacle and the secondary occluded area. The vehicle can be caused to implement the determined driving maneuver.

Claims

1. A method of operating a vehicle, the method comprising:

acquiring sensor data, using one or more sensors, of at least a portion of an external environment of the vehicle;

detecting a dynamic obstacle in the external environment of the vehicle based on the acquired sensor data;

determining, using a processor, whether a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map;

responsive to determining that a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on the static obstacle map, determining a driving maneuver for the vehicle based on at least the dynamic obstacle and the secondary occluded area; and

causing the vehicle to implement the determined driving maneuver.

2. The method of claim 1, further including:

determining a velocity of the dynamic obstacle based on the acquired sensor data, and wherein determining a driving maneuver for the vehicle is further based on the determined velocity of the dynamic obstacle.

3. The method of claim 1, wherein determining whether the secondary occluded area is located behind the dynamic obstacle relative to the current location of the vehicle based on the static obstacle map includes:

determining, using ray tracing on the static obstacle map, whether there is a first occluded sensor coverage area located behind a static obstacle included in the static obstacle map;

determining, using ray tracing on the acquired sensor data, whether there is a second occluded sensor coverage area located behind the detected dynamic obstacle;

responsive to determining that there is a first occluded sensor coverage and a second occluded sensor coverage area, comparing the first occluded sensor coverage area to the second occluded sensor coverage area to determine whether there is an overlap between the first occluded sensor coverage area and the second occluded sensor coverage area; and

responsive to determining that there is an overlap between first occluded sensor coverage area and the second occluded sensor coverage area, determining that there is a secondary occluded area, wherein the secondary occluded area is defined by the overlap.

4. The method of claim 1, wherein the one or more sensors are one or more LIDAR sensors, and wherein the sensor data is LIDAR sensor data.

5. The method of claim 1, wherein the one or more sensors include one or more radar sensors, one or more cameras, or one or more sonar sensors.

6. The method of claim 1, wherein the determined driving maneuver includes reducing a current speed of the vehicle to a reduced speed at least until the dynamic obstacle is no longer located between the secondary occluded area and the vehicle, and

wherein the driving maneuver further includes, after the dynamic obstacle is no longer located between the secondary occluded area and the vehicle, maintaining the reduced speed of the vehicle at least until the secondary occluded area is detectable by the one or more sensors.

7. The method of claim 1, wherein the determined driving maneuver includes a recommended vehicle speed, and wherein causing the vehicle to implement the determined driving maneuver includes causing the recommended vehicle speed to be displayed to an occupant of the vehicle.

8. The method of claim 1, wherein the driving maneuver is a first driving maneuver, and further including:

acquiring sensor data, using one or more sensors, of the secondary occluded area;

detecting whether one or more other obstacles are located in the secondary occluded area based on the acquired sensor data of the secondary occluded area, wherein the one or more other obstacles include one or more static obstacles or one or more dynamic obstacles;

responsive to detecting that one or more other obstacles are located in the secondary occluded area, determining a second driving maneuver for the vehicle, the second driving maneuver being different from the first driving maneuver; and

causing the vehicle to implement the determined second driving maneuver.

9. A system of determining occluded areas using static obstacle maps for a vehicle, the system comprising:

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 one or more sensors, the processor being configured to;

detect a dynamic obstacle in the external environment of the vehicle based on the acquired sensor data;

determine whether a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map;

responsive to determining that a secondary occluded area is located behind the dynamic obstacle relative to a current location of the vehicle based on the static obstacle map, determine a driving maneuver for the vehicle based on at least the dynamic obstacle and the secondary occluded area; and

cause the vehicle to implement the determined driving maneuver.

10. The system of claim 9, wherein the processor is further configured to:

determine a velocity of the dynamic obstacle based on the acquired sensor data, and wherein determining a driving maneuver for the vehicle is further based on the determined velocity of the dynamic obstacle.

11. The system of claim 9, wherein determining whether the secondary occluded area is located behind the dynamic obstacle relative to the current location of the vehicle based on the static obstacle map includes:

determining, using ray tracing on the static obstacle map, whether there is a first occluded sensor coverage area located behind a static obstacle included in the static obstacle map;

determining, using ray tracing on the acquired sensor data, whether there is a second occluded sensor coverage area located behind the detected dynamic obstacle;

responsive to determining that there is a first occluded sensor coverage area and a second occluded sensor coverage area, comparing the first occluded sensor coverage area to the second occluded sensor coverage area to determine whether there is an overlap between the first occluded sensor coverage area and the second occluded sensor coverage area; and

responsive to determining that there is an overlap between first occluded sensor coverage area and the second occluded sensor coverage area, determining that there is a secondary occluded area, wherein the secondary occluded area is defined by the overlap.

12. The system of claim 9, wherein the one or more sensors include one or more LIDAR sensors, and wherein the sensor data is LIDAR sensor data.

13. The system of claim 9, wherein the one or more sensors include one or more radar sensors, one or more cameras, or one or more sonar sensors.

14. The system of claim 9, wherein the determined driving maneuver includes reducing a current speed of the vehicle to a reduced speed at least until the dynamic obstacle is no longer located between the secondary occluded area and the vehicle, and

wherein the driving maneuver further includes, after the dynamic obstacle is no longer located between the secondary occluded area and the vehicle, maintaining the reduced speed of the vehicle at least until the secondary occluded area is detectable by one or more sensors.

15. The system of claim 9, wherein the determined driving maneuver includes a recommended vehicle speed, and wherein cause the vehicle to implement the determined driving maneuver includes cause the recommended vehicle speed to be displayed to an occupant of the vehicle.

16. The system of claim 9, wherein the driving maneuver is a first driving maneuver, wherein the one or more sensors are further configured to acquire sensor data of the secondary occluded area, and wherein the processor is further configured to:

detect whether one or more other obstacles are located in the secondary occluded area based on the acquired sensor data of the secondary occluded area, wherein the one or more other obstacles include one or more static obstacles or one or more dynamic obstacles;

responsive to detecting that one or more other obstacles are located in the secondary occluded area, determine a second driving maneuver for the vehicle, wherein the second driving maneuver is different from the first driving maneuver; and

cause the vehicle to implement the determined second driving maneuver.

17. The system of claim 9, wherein the processor is further configured to:

determine whether the acquired sensor data is occluded;

determine an occluded area for the acquired sensor data that is determined to be occluded;

determine a second driving maneuver for the vehicle based on at least the determined occluded area; and

cause the vehicle to implement the determined second driving maneuver,

wherein determine whether there is a secondary occluded area located behind the dynamic obstacle relative to a current location of the vehicle based on a static obstacle map is performed responsive to determining that the acquired sensor data is not occluded.

18. The system of claim 9, further including a data store communicatively linked to the processor, wherein the static obstacle map is included in the data store, and

wherein the one or more sensors, the processor, and the data store are located onboard the vehicle.

19. The system of claim 9, further including a data store communicatively linked to the processor, wherein the static obstacle map is included in the data store, and

wherein the data store is located on a server that is remote from the vehicle.

20. A method of updating a static obstacle map, the method comprising:

acquiring sensor data, using one or more sensors, of at least a portion of an external environment of a vehicle;

detecting an obstacle in the external environment of the vehicle based on the acquired sensor data;

determining a location for the detected obstacle;

determining, using a static obstacle map, whether the location of the detected obstacle is behind an expected location of a static obstacle included in the static obstacle map relative to a current location of the vehicle; and

responsive to determining that the location of the obstacle is behind the expected location of a static obstacle included in the static obstacle map relative to the current location of the vehicle, sending a command to update the static obstacle map by removing the static obstacle.