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US 2024/0190470 A1Published application
Systems and methods for controlling a vehicle using high precision and high recall detection
AssigneeKodiak Robotics, Inc.
InventorsDerek J. Phillips, Collin C. Otis, Andreas Wendel, Jackson P. Rusch
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Abstract
This disclosure provides systems and methods for controlling a vehicle based on a combination of high precision detection and high recall detection. The disclosed systems and methods can efficiently generate trajectories by reducing duplicate detection or duplicate calculation of objects or obstacles of common and known object types and objects or obstacles without class identification.
Claims22
A method of controlling an autonomous vehicle, comprising:
- receiving data from a set of sensors, wherein the data represents objects or obstacles in an environment of the autonomous vehicle;
- and
- using a processor:
- generating high precision detection data based on the received data;
- identifying, from the high precision detection data, a first set of objects or obstacles that are classifiable by at least one known classifier;
- tracking movement of one or more objects in the first set of objects or obstacles over time and maintaining identity of the tracked one or more objects in the first set of objects or obstacles;
- generating high recall detection data based on the received data;
- identifying from the high recall detection data a second set of objects or obstacles without using any classifier;
- filtering out objects, from the second set of objects or obstacles, that correspond to the tracked one or more objects in the first set of objects or obstacles to obtain a filtered set of objects or obstacles;
- determining a candidate trajectory for the autonomous vehicle to avoid at least the tracked one or more objects in the first set of objects or obstacles and the filtered set of objects or obstacles;
- and
- controlling the autonomous vehicle according to the candidate trajectory.
9 more elements
A system for controlling an autonomous vehicle, comprising:
- a set of sensors, configured to receive data that represents objects or obstacles in an environment of the autonomous vehicle;
- and
- a processor, configured to:
- generate high precision detection data based on the received data;
- identify, from the high precision detection data, a first set of objects or obstacles that are classifiable by at least one known classifier;
- track movement of one or more objects in the first set of objects or obstacles over time and maintain identity of the tracked one or more objects in the first set of objects or obstacles;
- generate high recall detection data based on the received data;
- identify from the high recall detection data a second set of objects or obstacles without using any classifier;
- filtering out objects, from the second set of objects or obstacles, that correspond to the tracked one or more objects in the first set of objects or obstacles to obtain a filtered set of objects or obstacles;
- determine a candidate trajectory for the autonomous vehicle to avoid at least the tracked one or more objects in the first set of objects or obstacles and the filtered set of objects or obstacles;
- and
- control the autonomous vehicle according to the candidate trajectory.
9 more elements
Dependencies are inferred from the claim text.