Modifying behavior of autonomous vehicles based on sensor blind spots and limitations
First Claim
1. A method of maneuvering a vehicle in an autonomous driving mode, the method comprising:
- generating, by one or more processors, for each given sensor of a plurality of sensors for detecting objects in the vehicle'"'"'s environment, a model of the vehicle'"'"'s environment corresponding to that given sensor'"'"'s field of view;
aggregating, by the one or more processors, the plurality of models to generate a comprehensive model, wherein the comprehensive model indicates an extent of an aggregated field of view for the plurality of sensors in order to provide a map indicating both areas where the plurality of sensors can detect objects and areas where the plurality of sensors cannot detect objects; and
using, by the one or more processors, the comprehensive model to maneuver the vehicle in the autonomous driving mode.
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Abstract
Models can be generated of a vehicle'"'"'s view of its environment and used to maneuver the vehicle. This view need not include what objects or features the vehicle is actually seeing, but rather those areas that the vehicle is able to observe using its sensors if the sensors were completely un-occluded. For example, for each of a plurality of sensors of the object detection component, a computer may generate an individual 3D model of that sensor'"'"'s field of view. Weather information is received and used to adjust one or more of the models. After this adjusting, the models may be aggregated into a comprehensive 3D model. The comprehensive model may be combined with detailed map information indicating the probability of detecting objects at different locations. The model of the vehicle'"'"'s environment may be computed based on the combined comprehensive 3D model and detailed map information.
42 Citations
18 Claims
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1. A method of maneuvering a vehicle in an autonomous driving mode, the method comprising:
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generating, by one or more processors, for each given sensor of a plurality of sensors for detecting objects in the vehicle'"'"'s environment, a model of the vehicle'"'"'s environment corresponding to that given sensor'"'"'s field of view; aggregating, by the one or more processors, the plurality of models to generate a comprehensive model, wherein the comprehensive model indicates an extent of an aggregated field of view for the plurality of sensors in order to provide a map indicating both areas where the plurality of sensors can detect objects and areas where the plurality of sensors cannot detect objects; and using, by the one or more processors, the comprehensive model to maneuver the vehicle in the autonomous driving mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A system for maneuvering a vehicle in an autonomous driving mode, the system comprising one or more processors configured to:
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generate, for each given sensor of a plurality of sensors for detecting objects in a vehicle'"'"'s environment, a model of the vehicle'"'"'s environment corresponding to that given sensor'"'"'s field of view; aggregate the plurality of models to generate a comprehensive model, wherein the comprehensive model indicates an extent of an aggregated field of view for the plurality of sensors in order to provide a map indicating both areas where the vehicle can detect objects and areas where the vehicle'"'"'s sensors cannot detect objects; and use the comprehensive model to maneuver the vehicle in the autonomous driving mode. - View Dependent Claims (18)
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Specification