Collision avoidance using visibility grids in autonomous vehicles
AssigneesNissan North America, Inc., RENAULT s.a.s.
InventorsAtsuhide Kobashi, Stefan Witwicki, Christopher Ostafew, Kyle Hollins Wray, Kuniaki Noda
Life of this patent
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Abstract
A visibility grid is determined for at least one external object within an operational environment of an autonomous vehicle. The visibility grid represents areas visible and areas obstructed for the external object. When the autonomous vehicle is positioned within an occluded region relative to the visibility grid of the external object is identified. Driving parameters of the autonomous vehicle are altered in response to being in the occluded region to avoid collision with the external object.
Claims19
A method performed by a processor of an autonomous vehicle, comprising:
- determining a visibility grid for at least one external object within an operational environment of the autonomous vehicle, wherein the visibility grid represents areas visible and areas obstructed for the external object, and wherein the external object comprises a vehicle traveling on a same or an adjacent lane of a road as the autonomous vehicle;
- identifying when the autonomous vehicle is positioned within an occluded region relative to the visibility grid of the external object;
- and
- altering driving parameters of the autonomous vehicle in response to being in the occluded region to avoid collision with the external object.
An autonomous vehicle, comprising:
- a processor configured to execute instructions to:
- determine a visibility grid for at least one external object within an operational environment of the autonomous vehicle, wherein the visibility grid represents areas visible and areas obstructed for the external object, and wherein the external object comprises a vehicle traveling on a same or an adjacent lane of a road as the autonomous vehicle;
- identify when the autonomous vehicle is positioned within an occluded region relative to the visibility grid of the external object;
- and
- alter driving parameters of the autonomous vehicle in response to being in the occluded region to avoid collision with the external object.
A non-transitory computer-readable storage medium, comprising executable instructions that, when executed by a processor, perform operations comprising:
- determining a visibility grid for at least one external object within an operational environment of an autonomous vehicle, wherein the visibility grid represents areas visible and areas obstructed for the external object, and wherein the external object comprises a vehicle traveling on a same or an adjacent lane of a road as the autonomous vehicle;
- identifying when the autonomous vehicle is positioned within an occluded region relative to the visibility grid of the external object;
- and
- altering driving parameters of the autonomous vehicle in response to being in the occluded region to avoid collision with the external object.
Dependencies are inferred from the claim text.