Back to results
US 11,685,360 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 comprising:
- receiving, using at least one processor and based on data collected by one or more sensors of a vehicle, a model of an environment comprising one or more objects that are detectable by the one or more sensors;
- determining, using the at least one processor and based on at least the collected data, one or more hypothetical objects in the environment that are undetectable by the one or more sensors;
- adding, using the at least one processor, the one or more hypothetical objects to the model;
- and
- controlling, using the at least one processor and based on the model to which the one or more hypothetical objects have been added, movement of the vehicle in the environment.
2 more elements
A system comprising:
- at least one programmable processor;
- and
- a machine-readable medium storing instructions that, when executed by the at least one processor, cause the at least one programmable processor to perform operations comprising:
- receiving, based on data collected by one or more sensors of a vehicle, a model of an environment comprising one or more objects that are detectable by the one or more sensors;
- determining, based on at least the collected data, one or more hypothetical objects in the environment that are undetectable by the one or more sensors;
- adding the one or more hypothetical objects to the model;
- and
- controlling, based on the model to which the one or more hypothetical objects have been added, movement of the vehicle in the environment.
5 more elements
A non-transitory computer program product storing instructions that, when executed by at least one programmable processor, cause the at least one programmable processor to perform operations comprising:
- receiving, based on data collected by one or more sensors of a vehicle, a model of an environment comprising one or more objects that are detectable by the one or more sensors;
- determining, based on at least the collected data, one or more hypothetical objects in the environment that are undetectable by the one or more sensors;
- adding the one or more hypothetical objects to the model;
- and
- controlling, based on the model to which the one or more hypothetical objects have been added, movement of the vehicle in the environment.
2 more elements
Dependencies are inferred from the claim text.