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US 12,589,742 B2Granted
Systems and methods for adjusting a driving path using occluded regions
AssigneeKodiak Robotics, Inc.
InventorsCollin Otis, Philip C. Du Toit
Life of this patent
Estimating the term…
Abstract
Exemplary embodiments include methods and systems to adjust a driving path in a planner-map, including: identifying a driving surface; determining a path on the driving surface; identifying one or more objects relative to the driving surface using one or more sensors; detecting one or more occlusion areas from sensor data from the one or more sensors; tracking one or more tracks of one or more objects within the one or more occlusion areas; adding uncertainty to the one or more tracks within the one or more occlusion areas; and adjusting the path on the driving surface based on the uncertainty of the one or more tracks within the one or more occlusion areas.
Claims16
A method to adjust a driving path in a planner-map, comprising:
- detecting, using a computing device and sensor data from one or more sensors coupled to a vehicle, an environment of the vehicle, wherein the computing device comprises a processor and a memory;
- identifying, using the computing device, a driving surface within the environment of the vehicle based on the sensor data;
- determining, using the computing device, a path on the driving surface on which the vehicle may travel, based on the sensor data from the one or more sensors;
- identifying, using the one or more sensors, one or more objects relative to the driving surface;
- detecting, using the computing device, one or more occlusion areas within the environment of the vehicle based on the sensor data from the one or more sensors;
- tracking, using the one or more sensors, one or more tracks of one or more objects within the one or more occlusion areas;
- adding, using the computing device, an uncertainty value to each of the one or more tracks within the one or more occlusion areas;
- adjusting, using the computing device, the path on the driving surface based on the uncertainty value of the one or more tracks within the one or more occlusion areas;
- and
- performing, using the computing device, one or more driving actions to cause the vehicle to follow the path on the driving surface.
7 more elements
A system to adjust a path, comprising:
- a vehicle;
- one or more sensors coupled to the vehicle configured to record sensor data of an environment of the vehicle;
- and
- a computing device, comprising a processor and a memory, wherein the memory is configured to store instructions that, when executed by the processor, are configured to cause the processor to:
- detect, based on the sensor data, the environment of the vehicle;
- identify a driving surface within the environment of the vehicle;
- determine a path on the driving surface on which the vehicle may travel, based on the sensor data from the one or more sensors;
- identify, using the one or more sensors, one or more objects relative to the driving surface;
- detect one or more occlusion areas within the environment of the vehicle based on the sensor data from the one or more sensors;
- track, using the one or more sensors, one or more tracks of one or more objects within the one or more occlusion areas;
- add an uncertainty value to each of the one or more tracks within the one or more occlusion areas;
- adjust the path on the driving surface based on the uncertainty value of the one or more tracks within the one or more occlusion areas;
- and
- perform one or more driving actions to cause the vehicle to follow the path on the driving surface.
11 more elements
A method to adjust a driving path in a planner-map, comprising:
- detecting, using a computing device and sensor data from one or more sensors coupled to a vehicle, an environment of the vehicle, wherein the computing device comprises a processor and a memory;
- identifying, using the computing device, a driving surface within the environment of the vehicle based on the sensor data;
- determining, using the computing device, a path on the driving surface on which the vehicle may travel, based on the sensor data from the one or more sensors;
- identifying, using the one or more sensors, one or more objects relative to the driving surface;
- detecting, using the computing device, one or more occlusion areas within the environment of the vehicle formed by the one or more objects;
- adding, using the computing device, an uncertainty value of a potential additional object within the one or more occlusion areas;
- adjusting, using the computing device, the path on the driving surface based on the uncertainty value of the potential additional object within the one or more occlusion areas;
- and
- performing, using the computing device, one or more driving actions to cause the vehicle to follow the path on the driving surface.
6 more elements
Dependencies are inferred from the claim text.