# US 2021/0241002 A1 · Intent-based dynamic change of region of interest of vehicle perception system

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- Number: US 2021/0241002 A1
- Document ID: US20210241002A1
- Status: Published application
- Kind: A1
- Application number: 17/215,189
- Filed: 2021-03-29
- Published: 2021-08-05
- Earliest claimed: 2019-09-27
- Assignees: GM Cruise Holdings LLC
- Applicants: GM Cruise Holdings LLC
- Inventors: Pranay Agrawal
- Web page: https://patentgrep.com/patent/US20210241002A1

## CPC

- G06T 3/40: Scaling of whole images or parts thereof, e.g. expanding or contracting
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)}
- G06T 7/11: Region-based segmentation
- G06T 7/174: involving the use of two or more images
- G06T 7/207: for motion estimation over a hierarchy of resolutions (multi-resolution motion estimation or hierarchical motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/53)
- G06V 10/22: by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
- G06V 10/25: Determination of region of interest [ROI] or a volume of interest [VOI]
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

The present disclosure provides a perception system for a vehicle. The perception system includes a perception filter for determining a region of interest (“ROI”) for the vehicle based on an intent of the vehicle and a current state of the vehicle; and a perception module for perceiving an environment of the vehicle based on the ROI; wherein the vehicle is caused to take appropriate action based on the perceived environment, the current state of the vehicle, and the intent of the vehicle.

## Claims

### Claim 1

A perception system for a vehicle, the perception system comprising:
a perception filter for determining a region of interest (“ROI”) for the vehicle based on an intent of the vehicle and a current state of the vehicle; and
a perception module for perceiving an environment of the vehicle based on the ROI;
wherein the vehicle is caused to take appropriate action based on the perceived environment, the current state of the vehicle, and the intent of the vehicle.

### Claim 2 (depends on 1)

The perception system of claim 1, wherein the ROI is used to select a subset of images of the environment of the vehicle produced by an imaging device associated with the vehicle, wherein the perception module perceives the environment based at least in part on the subset of images.

### Claim 3 (depends on 1)

The perception system of claim 1, wherein the perception filter determines compute resource priority instructions based on the ROI, the perception system further including a plurality of imaging devices associated with the vehicle and a compute module for receiving the compute resource priority instructions from the perception filter and allocating compute resources among the imaging devices in accordance with the compute resource priority instructions.

### Claim 4 (depends on 3)

The perception system of claim 3, wherein the perception filter further provides scanning instructions to at least of the imaging devices.

### Claim 5 (depends on 3)

The perception system of claim 3, wherein the imaging devices comprise at least one of a camera, a LIDAR device, and a RADAR device.

### Claim 6 (depends on 1)

The perception system of claim 1, wherein the ROI is used to crop at least one image of the environment of the vehicle produced by an imaging device associated with the vehicle, wherein the perception module perceives the environment based at least in part on the cropped image.

### Claim 7 (depends on 1)

The perception system of claim 1, wherein the ROI is used to determine a resolution of at least one image of the environment of the vehicle produced by an imaging device associated with the vehicle, wherein the perception module perceives the environment based at least in part on the at least one image.

### Claim 8 (depends on 1)

The perception system of claim 1, wherein the intent of the vehicle is based on a planned route of the vehicle and wherein the current state of the vehicle includes at least a current position and a velocity of the vehicle.

### Claim 9 (depends on 1)

The perception system of claim 1, wherein the vehicle comprises an autonomous vehicle.

### Claim 10

An autonomous vehicle (“AV”) comprising:
an onboard computer;
a sensor suite comprising a plurality of imaging devices; and
a perception system including:
a perception filter for determining a region of interest (“ROI”) for the AV based on an intent of the AV and a current state of the AV; and
a perception module for perceiving an environment of the AV based on the ROI;
wherein the AV is caused to take appropriate action based on the perceived environment, the current state of the AV, and the intent of the AV.

### Claim 11 (depends on 10)

The AV of claim 10, wherein the ROI is used to select a subset of images of the environment of the AV produced by an imaging device associated with the AV, wherein the perception module perceives the environment based at least in part on the subset of images.

### Claim 12 (depends on 10)

The AV of claim 10, wherein the perception filter determines compute resource priority instructions based on the ROI, the perception system further including a plurality of imaging devices and a compute module for receiving the compute resource priority instructions from the perception filter and allocating compute resources among the imaging devices in accordance with the compute resource priority instructions.

### Claim 13 (depends on 10)

The AV of claim 10, wherein the ROI is used to crop at least one image of the environment of the AV produced by an imaging device associated with the AV, wherein the perception module perceives the environment based at least in part on the cropped image.

### Claim 14 (depends on 10)

The AV of claim 10, wherein the ROI is used to determine a resolution of at least one image of the environment of the AV produced by an imaging device associated with the AV, wherein the perception module perceives the environment based at least in part on the at least one image.

### Claim 15 (depends on 10)

The AV of claim 10, wherein the intent of the AV is based on a planned route of the AV and wherein the current state of the AV includes at least a current position and a velocity of the AV.

### Claim 16

A method comprising:
determining a region of interest (“ROI”) for the vehicle based on an intent of the vehicle and a current state of the vehicle;
perceiving an environment of the vehicle based on the ROI; and
causing the vehicle to take appropriate action based on the perceived environment, the current state of the vehicle, and the intent of the vehicle.

### Claim 17 (depends on 16)

The method of claim 16 further comprising using the ROI to select a subset of images of the environment of the vehicle produced by an imaging device associated with the vehicle, wherein the perception module perceives the environment based at least in part on the subset of images.

### Claim 18 (depends on 16)

The method of claim 16 further comprising using the ROI to crop at least one image of the environment of the vehicle produced by an imaging device associated with the vehicle, wherein the perception module perceives the environment based at least in part on the cropped image.

### Claim 19 (depends on 16)

The method of claim 16 further comprising using the ROI to determine a resolution of at least one image of the environment of the vehicle produced by an imaging device associated with the vehicle, wherein the perception module perceives the environment based at least in part on the at least one image.

### Claim 20 (depends on 16)

The method of claim 16, wherein the intent of the vehicle is based on a planned route of the vehicle and wherein the current state of the vehicle includes at least a current position and a velocity of the vehicle.