Enhanced obstacle detection

A non-transitory computer-readable medium storing computer-executable instructions which, when executed by one or more processors of a subject vehicle result in performing operations comprising:

• using an imaging system of the subject vehicle to capture a plurality of images of an environment around the subject vehicle;
• analyze the captured images to detect a neighboring vehicle traveling on a first road in a first traffic direction in a vicinity of the subject vehicle;
• collecting data associated with the neighboring vehicle using one or more sensors of the subject vehicle;
• analyzing the collected data to determine a trajectory of the neighboring vehicle over time, the trajectory including an elevation of the neighboring vehicle;
• using a sensor system of the subject vehicle, determining a nominal ground plane, the nominal ground plane defining an expected elevation of the neighboring vehicle;
• comparing the determined elevation of the neighboring vehicle over time to the expected elevation of the neighboring vehicle;
• generating a status of the neighboring vehicle at a geolocation of the neighboring vehicle based on the collected data, the status indicating whether the neighboring vehicle deviated from the expected elevation by an elevation threshold for a predetermined period of time;
• setting a first flag in response to the status of the neighboring vehicle indicating that a first road anomaly has occurred at the geolocation;
• and
• undertaking an action based on the first flag, wherein the action includes causing the vehicle to take evasive maneuvers.

A method comprising:

• using an imaging system of a subject vehicle, capturing a plurality of images of an environment around the subject vehicle;
• analyzing the captured images to, by one or more processors of the subject vehicle, detect a leading vehicle traveling on a road in a same traffic direction as the subject vehicle;
• collecting data associated with the leading vehicle;
• analyzing the collected data to determine a trajectory of the leading vehicle over time, the trajectory including an elevation of the leading vehicle;
• using a sensor system of the subject vehicle, determine a nominal ground plane, the nominal ground plane defining an expected elevation of the leading vehicle;
• compare the determined elevation of the leading vehicle over time to the expected elevation of the leading vehicle;
• generating a status of the leading vehicle at a geolocation of the leading vehicle based on the collected data, the status indicating whether the leading vehicle deviated from the expected elevation by an elevation threshold for a predetermined period of time;
• setting a flag in response to the status of the leading vehicle indicating that a first road anomaly has occurred at the geolocation;
• and
• undertaking an action based on the set flag, wherein the action includes causing the vehicle to take evasive maneuvers.

A subject vehicle comprising processing circuitry coupled to storage, wherein the processing circuitry is configured to:

• using an imaging system of the subject vehicle, capture a plurality of images of an environment around the subject vehicle;
• analyze the captured images to detect a first vehicle traveling on a first road in a first traffic direction in a vicinity of the subject vehicle;
• collect data associated with the first vehicle using one or more sensors of the subject vehicle
• analyze the collected data to determine a trajectory of the first vehicle over time, the trajectory including an elevation of the first vehicle;
• using a sensor system of the subject vehicle, determine a nominal ground plane, the nominal ground plane defining an expected elevation of the first vehicle;
• compare the determined elevation of the first vehicle over time to the expected elevation of the first vehicle;
• set a first flag in response to the determined elevation of the first vehicle deviating from the expected elevation by an elevation threshold for a predetermined period of time;
• and
• undertake a first action based on the first flag, wherein the first action includes causing the vehicle to take evasive maneuvers.

A non-transitory computer-readable medium storing computer executable instructions which, when executed by one or more processors of a subject vehicle, result in performing operations comprising:

• using an imaging system of the subject vehicle, capturing a plurality of images of an environment around the subject vehicle;
• analyzing the captured images to detect a first vehicle traveling on a first road in a first traffic direction in a vicinity of the subject vehicle;
• collecting data associated with the first vehicle using one or more sensors of the subject vehicle
• analyzing the collected data to determine a trajectory of the first vehicle over time, the trajectory including an elevation of the first vehicle;
• using a sensor system of the subject vehicle, determining a nominal ground plane, the nominal ground plane defining an expected elevation of the first vehicle;
• comparing the determined elevation of the first vehicle over time to the expected elevation of the first vehicle;
• setting a first flag in response to the determined elevation of the first vehicle deviating from the expected elevation by an elevation threshold for a predetermined period of time;
• and
• undertaking an action based on the first flag, wherein the action includes causing the vehicle to take evasive maneuvers.