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US 10,850,722 B2Granted
Planning for unknown objects by an autonomous vehicle
AssigneeMotional AD LLC
InventorsEmilio Frazzoli, Baoxing Qin
Life of this patent
Estimating the term…
Abstract
Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.
Claims20
A method of controlling an autonomous vehicle, the method comprising:
- generating a model of an environment of the autonomous vehicle, comprising:
- generating, based on sensor data collected by one or more sensors of the autonomous vehicle, a model of a perceived environment, the perceived environment comprising regions in the environment that are detectable by the one or more sensors, and
- generating, based on the sensor data and external data, a model of an unperceived environment, the unperceived environment comprising regions in the environment that are undetectable by the one or more sensors, wherein generating the model of the unperceived environment includes determining a boundary between the perceived environment and the unperceived environment;
- generating a hypothetical object in the model of the unperceived environment, wherein the hypothetical object has one or more properties;
- and
- controlling the autonomous vehicle to drive in the environment based on the one or more properties of the hypothetical object.
3 more elements
An apparatus comprising:
- one or more processors;
- and
- a memory storage in data communication with the one or more processors, the memory storage storing instructions executable by the one or more processors and that upon such execution cause the one or more processors to perform operations comprising:
- generating a model of an environment of an autonomous vehicle, comprising:
- generating, based on sensor data collected by one or more sensors of the autonomous vehicle, a model of a perceived environment, the perceived environment comprising regions in the environment that are detectable by the one or more sensors, and
- generating, based on the sensor data and external data, a model of an unperceived environment, the unperceived environment comprising regions in the environment that are undetectable by the one or more sensors, wherein generating the model of the unperceived environment includes determining a boundary between the perceived environment and the unperceived environment;
- generating a hypothetical object in the model of the unperceived environment, wherein the hypothetical object has one or more properties;
- and
- controlling the autonomous vehicle to drive in the environment based on the one or more properties of the hypothetical object.
6 more elements
A non-transitory computer storage medium encoded with a computer program, the program comprising instructions that when executed by data processing apparatus cause the data processing apparatus to perform operations comprising:
- generating a model of an environment of an autonomous vehicle, comprising:
- generating, based on sensor data collected by one or more sensors of the autonomous vehicle, a model of a perceived environment, the perceived environment comprising regions in the environment that are detectable by the one or more sensors, and
- generating, based on the sensor data and external data, a model of an unperceived environment, the unperceived environment comprising regions in the environment that are undetectable by the one or more sensors, wherein generating the model of the unperceived environment includes determining a boundary between the perceived environment and the unperceived environment;
- generating a hypothetical object in the model of the unperceived environment, wherein the hypothetical object has one or more properties;
- and
- controlling the autonomous vehicle to drive in the environment based on the one or more properties of the hypothetical object.
3 more elements
Dependencies are inferred from the claim text.