Detecting street parked vehicles
AssigneeWaymo LLC
InventorsDavid Harrison Silver, Jur Pieter Van Den Berg, Nathaniel Fairfield
Life of this patent
Estimating the term…
Abstract
Aspects of the disclosure relate to an autonomous vehicle that may detected other nearby vehicles and identify them as parked or unparked. This identification may be based on visual indicia displayed by the detected vehicles as well as traffic control factors relating to the detected vehicles. Detected vehicles that are in a known parking spot may automatically be identified as parked. In addition, detected vehicles that satisfy conditions that are indications of being parked may also be identified as parked. The autonomous vehicle may then base its control strategy on whether or not a vehicle has been identified as parked or not.
Claims24
A method comprising:
- observing, by one or more processors of a first vehicle and using one or more sensors of the first vehicle, (1) a second vehicle being stationary at a first location for at least a set amount of time and (2) motion of the second vehicle prior to becoming stationary at the first location;
- determining, by the one or more processors, that the second vehicle is a parked vehicle based on a combination of the observation of the second vehicle being stationary for at least the set amount of time and the observation of the motion of the second vehicle prior to becoming stationary at the first location;
- and
- controlling, by the one or more processors, the first vehicle in an autonomous driving mode based on the determination that the second vehicle is a parked vehicle.
A first vehicle comprising:
- one or more sensors;
- and
- one or more processors configured to:
- observe, using the one or more sensors, (1) a second vehicle being stationary at a first location for at least a set amount of time and (2) motion of the second vehicle prior to becoming stationary at the first location;
- determine that the second vehicle is a parked vehicle based on a combination of the observation of the second vehicle being stationary for at least the set amount of time and the observation of the motion of the second vehicle prior to becoming stationary at the first location;
- and
- control the first vehicle in an autonomous driving mode based on the determination that the second vehicle is a parked vehicle.
A non-transitory, computer readable medium on which instructions are store, the instructions when executed by one or more processors, cause the one or more processors of a first vehicle to perform a method, the method comprising:
- observing, using one or more sensors of the first vehicle, (1) a second vehicle being stationary at a first location for at least a set amount of time and (2) motion of the second vehicle prior to becoming stationary at the first location;
- determining that the second vehicle is a parked vehicle based on a combination of the observation of the second vehicle being stationary for at least the set amount of time and the observation of the motion of the second vehicle prior to becoming stationary at the first location;
- and
- controlling the first vehicle in an autonomous driving mode based on the determination that the second vehicle is a parked vehicle.
Dependencies are inferred from the claim text.