Detection of overhanging objects
First Claim
1. A method of detecting overhanging objects in an external environment of an autonomous vehicle, the method comprising:
- identifying one or more floating obstacle candidates based on sensor data acquired from at least a forward portion of the external environment;
filtering out the identified one or more floating obstacle candidates based on one or more predefined parameters;
determining a driving maneuver for the autonomous vehicle at least partially based on a height clearance between the autonomous vehicle and floating obstacle candidates that remain after being filtered out; and
causing the autonomous vehicle to implement the determined driving maneuver.
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Accused Products
Abstract
An autonomous vehicle can encounter an external environment in which an object overhangs a current road of the autonomous vehicle. For example, the branch of a tree may overhang the road. Such an overhanging object can be detected and suitable driving maneuvers for the autonomous vehicle can be determined. Sensor data can be acquired from at least a forward portion of the external environment. One or more floating obstacle candidates can be identified based on the acquired sensor data. The identified one or more floating obstacle candidates can be filtered to remove any floating obstacle candidates that do not meet one or more predefined parameters. A driving maneuver for the autonomous vehicle can be determined at least partially based on a height clearance between the autonomous vehicle and floating obstacle candidates that remain after being filtered out. The autonomous vehicle can be caused to implement the determined driving maneuver.
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Citations
20 Claims
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1. A method of detecting overhanging objects in an external environment of an autonomous vehicle, the method comprising:
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identifying one or more floating obstacle candidates based on sensor data acquired from at least a forward portion of the external environment; filtering out the identified one or more floating obstacle candidates based on one or more predefined parameters; determining a driving maneuver for the autonomous vehicle at least partially based on a height clearance between the autonomous vehicle and floating obstacle candidates that remain after being filtered out; and causing the autonomous vehicle to implement the determined driving maneuver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for detecting overhanging objects in an external environment of an autonomous vehicle, the system comprising:
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a sensor system configured to acquire sensor data of at least a forward portion of the external environment of the autonomous vehicle; and a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising; identifying one or more floating obstacle candidates based on the acquired sensor data of at least a forward portion of the external environment; filtering out the identified one or more floating obstacle candidates based on one or more predefined parameters; determining a driving maneuver for the autonomous vehicle at least partially based on a height clearance between the autonomous vehicle and of the floating obstacle candidates that remain after being filtered out; and causing the autonomous vehicle to implement the determined driving maneuver. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A computer program product for detecting overhanging objects in an external environment of an autonomous vehicle, the computer program product comprising a non-transitory computer readable storage medium having program code embodied therein, the program code executable by a processor to perform a method comprising:
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identifying one or more floating obstacle candidates based on sensor data acquired from at least a forward portion of the external environment; filtering out the identified one or more floating obstacle candidates based on one or more predefined parameters; determining a driving maneuver for the autonomous vehicle at least partially based on a height clearance between the autonomous vehicle and floating obstacle candidates that remain after being filtered out; and causing the autonomous vehicle to implement the determined driving maneuver.
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Specification