Sidewalk detection for pedestrian behavior modeling
AssigneeWaymo LLC
InventorJared Stephen Russell
Life of this patent
Estimating the term…
Abstract
Aspects of the disclosure relate to detecting sidewalks adjacent to roads. In this regard, a set of potential sidewalk areas adjacent to one or more roads in a vehicle's vicinity may be determined based on map data. Topology data for the set of potential sidewalk areas may be generated based on sensor data received from a perception system of the vehicle. The set of potential sidewalks may be filtered to remove areas unlikely to include a sidewalk. The vehicle may be operated based on the filtered set of potential sidewalk areas, which may include taking precautionary measures when within a predetermined distance from any of the filtered set of potential sidewalks.
Claims20
A method comprising:
- receiving, by one or more computing devices, sensor data identifying a plurality of potential sidewalk areas;
- filtering, by the one or more computing devices, the sensor data based on at least one of clearance width, slope or obstructions associated with each of the potential sidewalk areas to eliminate areas of the plurality of potential sidewalk areas that are unlikely to include a sidewalk;
- identifying, by the one or more computing devices, a plurality of pathways in the filtered potential sidewalk areas that are adjacent to a road in a vicinity of an autonomous vehicle;
- categorizing as a first sidewalk, by the one or more computing devices, a first pathway of the plurality of identified pathways adjacent to a first side of the road;
- categorizing as a second sidewalk, by the one or more computing devices, a second pathway of the plurality of identified pathways adjacent to a second side of the road;
- determining, by the one or more computing devices, results indicating whether a crosswalk exists between the first and second pathways of identified pathways;
- and operating, by the one or more computing devices, the autonomous vehicle based on the results.
Apparatus comprising:
- one or more computing devices coupled configured to:
- receive sensor data identifying a plurality of potential sidewalk areas;
- filter the sensor data based on at least one of clearance width, slope or obstructions associated with each of the potential sidewalk areas to eliminate areas of the plurality of potential sidewalk areas that are unlikely to include a sidewalk;
- identify a plurality of pathways in the filtered potential sidewalk areas that are adjacent to a road in a vicinity of an autonomous vehicle;
- categorize as a first sidewalk, a first pathway of the identified plurality of pathways adjacent to a first side of the road;
- categorize as a second sidewalk a second pathway of the plurality of identified pathways adjacent to a second side of the road;
- determine results indicating whether a crosswalk exists between the first and second pathways of the plurality of identified pathways;
- and operate the autonomous vehicle based on the results.
Dependencies are inferred from the claim text.