Fail-safe corrective actions based on vision information for autonomous vehicles
AssigneeTesla, Inc.
InventorsUma Balakrishnan, Daniel Hunter, Akash Chaurasia, Yun-Ta Tsai, Akshay Vijay Phatak
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Abstract
Systems and methods for fail-safe corrective actions based on vision information for autonomous driving. An example method is implemented by a processor system included in a vehicle, with the method comprising obtaining images from image sensors positioned about the vehicle. Visibility information is determined for at least a portion of the images. Adjustment of operation of an autonomous vehicle is caused based on the visibility information.
Claims19
A method implemented by a processor system included in a vehicle, the method comprising:
- obtaining first images from first image sensors positioned at fixed locations about the vehicle, the first image sensors corresponding to machine learning models that are trained using second images obtained from second image sensors at the fixed locations about one or more second vehicles;
- determining visibility information comprising a first visibility value for at least a first portion of a first image and a second visibility value for at least a second portion of the first image, wherein the first image is input into a machine learning model corresponding to an image sensor that generated the first image and a forward pass through the machine learning model is computed, and wherein the machine learning model is trained to assign individual visibility values indicative of a degree of visibility loss associated with individual portions of the first images;
- and
- providing a control signal to cause adjustment of operation of at least one subsystem of the vehicle to adjust a speed of the vehicle based on the visibility information comprising the first visibility value and the second visibility value.
A system comprising one or more processors and non-transitory computer storage media including instructions that when executed by the processors cause the processors to perform operations, wherein the system is included in a vehicle, and wherein the operations comprise:
- obtaining first images from first image sensors positioned at fixed locations about the vehicle, the first image sensors corresponding to machine learning models that are trained using second images obtained from second image sensors at the fixed locations about one or more second vehicles;
- determining visibility information comprising a first visibility value for at least a first portion of a first image and a second visibility value for at least a second portion of the first image, wherein the first image is input into a machine learning model corresponding to an image sensor that generated the first image and a forward pass through the machine learning model is computed, and wherein the machine learning model is trained to assign individual visibility values indicative of a degree of visibility loss associated with individual portions of first images;
- and
- providing a control signal to cause adjustment of operation of at least one subsystem of the vehicle to adjust a speed of the vehicle based on the visibility information comprising the first visibility value and the second visibility value.
A non-transitory computer storage media storing instructions that when executed by a system of one or more processors, cause the one or more processors to perform operations, wherein the system is included in a vehicle, and wherein the operations comprise:
- obtaining first images from first image sensors positioned at fixed locations about the vehicle, the first image sensors corresponding to machine learning models that are trained using second images obtained from second image sensors at the fixed locations about one or more second vehicles;
- determining visibility information comprising a first visibility value for at least a first portion of a first image and a second visibility value for at least a second portion of the first image, wherein the first image is input into a machine learning model and a forward pass through the machine learning model corresponding to an image sensor that generated the first image is computed, and wherein the machine learning model is trained to assign individual visibility values indicative of a degree of visibility loss associated with individual portions of first images;
- and
- providing a control signal to cause adjustment of operation of at least one component of the vehicle to adjust a speed of the vehicle based on the visibility information comprising the first visibility value and the second visibility value.
Dependencies are inferred from the claim text.