Assessing perception of sensor using known mapped objects
AssigneeWaymo LLC
InventorMehmet Akman
Life of this patent
Estimating the term…
Abstract
Aspects of the disclosure relate to determining perceptive range of a vehicle in real time. For instance, a static object defined in pre-stored map information may be identified. Sensor data generated by a sensor of the vehicle may be received. The sensor data may be processed to determine when the static object is first detected in an environment of the vehicle. A distance between the object and a location of the vehicle when the static object was first detected may be determined. This distance may correspond to a perceptive range of the vehicle with respect to the sensor. The vehicle may be controlled in an autonomous driving mode based on the distance.
Claims20
A method for determining perceptive range of a vehicle in real time, the method comprising:
- receiving, by one or more processors, sensor data generated by a sensor of the vehicle, the sensor having an expected range at which an image of a static object in an environment of the vehicle is captured by the sensor to detect the static object;
- determining, by the one or more processors, that the static object is located within the expected range of the sensor;
- based on the determining, processing, by the one or more processors, the sensor data to determine when the static object is first detected in the environment of the vehicle;
- identifying, by the one or more processors, a number of pixels in a camera image of the static object captured from the vehicle;
- determining, by the one or more processors, a distance between the static object and a location of the vehicle when the static object was first detected by comparing the identified number of pixels in the camera image of the static object to an expected number of pixels based on map information and the location of the vehicle when the camera image was captured;
- and
- controlling, by the one or more processors, the vehicle in an autonomous driving mode based on the determined distance.
A system for determining perceptive range of a vehicle in real time, the system comprising one or more processors configured to:
- receive sensor data generated by a sensor of the vehicle, the sensor having an expected range at which an image of a static object in an environment of the vehicle is captured by the sensor to detect the static object;
- determine that the static object is located within the expected range of the sensor;
- based on the determination, process the sensor data to determine when the static object is first detected in the environment of the vehicle;
- identify a number of pixels in a camera image of the static object captured from the vehicle;
- determine a distance between the static object and a location of the vehicle when the static object was first detected by comparing the identified number of pixels in the camera image of the static object to an expected number of pixels based on map information and the location of the vehicle when the camera image was captured;
- and
- control the vehicle in an autonomous driving mode based on the determined distance.
Dependencies are inferred from the claim text.