Actively modifying a field of view of an autonomous vehicle in view of constraints

• US 10,466,712 B2
• Filed: 08/14/2017
• Issued: 11/05/2019
• Est. Priority Date: 03/16/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Ferguson, David I., Zhu, Jiajun
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/675,857
• Publication Number:
  US 20180024567A1
• Time in Patent Office: 813 Days
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

Claims

1. A method comprising:

causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;

determining a second field of view in which the portion of the environment is less obscured than in the first field of view, wherein determining the second field of view is based on at least one or more of traffic law constraints, passenger comfort constraints, or passenger safety constraints;

modifying the sensor'"'"'s field of view from the first field of view to the second field of view, wherein modifying the sensor'"'"'s field of view comprises modifying a position of the vehicle; and

causing the sensor to sense information in the second field of view.

2. The method of claim 1, wherein modifying the position of the vehicle comprises modifying at least one of a speed of the vehicle or an acceleration of the vehicle.

3. The method of claim 1, wherein modifying the sensor'"'"'s field of view from the first field of view to the second field of view further comprises modifying at least one of a position of the sensor or an orientation of the sensor.

4. The method of claim 1, wherein determining the second field of view comprises:

detecting an obstacle in the first field of view; and

determining a desired of field of view that avoids the obstacle or includes less of the obstacle.

5. The method of claim 4, wherein the second field of view is different than the desired field of view.

6. The method of claim 4, wherein determining the second field of view further comprises determining the second field of view based on the desired field of view and the one or more of traffic law constraints, passenger comfort constraints, or passenger safety constraints.

7. An autonomous vehicle comprising:

a sensor;

at least one processor; and

data storage comprising instructions executable by the at least one processor to perform operations, wherein the operations comprise;

causing the sensor to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;

determining a second field of view in which the portion of the environment is less obscured than in the first field of view, wherein determining the second field of view is based on at least one or more or traffic law constraints, passenger comfort constraints, or passenger safety constraints;

modifying the sensor'"'"'s field of view from the first field of view to the second field of view, wherein modifying the sensor'"'"'s field of view comprises modifying a position of the vehicle; and

causing the sensor to sense information in the second field of view.

8. The autonomous vehicle of claim 7, wherein modifying the position of the vehicle comprises modifying at least one of a speed of the vehicle or an acceleration of the vehicle.

9. The autonomous vehicle of claim 7, wherein modifying the sensor'"'"'s field of view from the first field of view to the second field of view further comprises modifying at least one of a position of the sensor or an orientation of the sensor.

10. The autonomous vehicle of claim 7, wherein determining the second field of view comprises:

detecting an obstacle in the first field of view; and

determining a desired of field of view that avoids the obstacle or includes less of the obstacle.

11. The autonomous vehicle of claim 10, wherein the second field of view is different than the desired field of view.

12. The autonomous vehicle of claim 10, wherein determining the second field of view further comprises determining the second field of view based on the desired field of view and the one or more of traffic law constraints, passenger comfort constraints, or passenger safety constraints.

13. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform operations, wherein the operations comprise:

causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;

determining a second field of view in which the portion of the environment is less obscured than in the first field of view, wherein determining the second field of view is based on at least one or more of traffic law constraints, passenger comfort constraints, or passenger safety constraints;

modifying the sensor'"'"'s field of view from the first field of view to the second field of view, wherein modifying the sensor'"'"'s field of view comprises modifying a position of the vehicle; and

causing the sensor to sense information in the second field of view.

14. The non-transitory computer-readable medium of claim 13, wherein modifying the position of the vehicle comprises modifying at least one of a speed of the vehicle or an acceleration of the vehicle.

15. The non-transitory computer-readable medium of claim 13, wherein modifying the sensor'"'"'s field of view from the first field of view to the second field of view further comprises modifying at least one of a position of the sensor or an orientation of the sensor.

16. The non-transitory computer-readable medium of claim 13, wherein determining the second field of view comprises:

detecting an obstacle in the first field of view; and

determining a desired of field of view that avoids the obstacle or includes less of the obstacle.

17. The non-transitory computer-readable medium of claim 16, wherein determining the second field of view further comprises determining the second field of view based on the desired field of view and a set of the one or more of traffic law constraints, passenger comfort constraints, or passenger safety constraints.

18. The non-transitory computer-readable medium of claim 16, wherein the second field of view is different than the desired field of view.