Mitigating occlusions with sensor sharing/cooperative perception
AssigneesToyota Motor Engineering & Manufacturing North America, Inc., Toyota Jidosha Kabushiki Kaisha
InventorsSERGEI S. AVEDISOV, Hongsheng Lu, Onur Altintas
Life of this patent
Estimating the term…
Abstract
Systems and methods are provided for reducing sensor obstructions. A sensor message can be received from a vehicle indicating that the vehicle's sensor view is obstructed. The system can determine that a second vehicle is at least partially obstructing the first vehicle's sensor view. The system can determine a maneuver that reduces or eliminates the obstruction and perform the maneuver.
Claims20
A method comprising:
- receiving a sensor message from a first vehicle indicating that the first vehicle's sensor view is obstructed;
- determining that a second vehicle is at least partially obstructing the first vehicle's sensor view;
- determining a maneuver for the second vehicle that reduces or eliminates the second vehicle's obstruction of the first vehicle's sensor view;
- and
- causing the second vehicle to perform the determined maneuver.
A vehicle, comprising:
- One or more processors;
- and
- a memory coupled to the processor to store instructions, which when executed by the processor, cause at least one of the one or more processors processor to:
- receive a sensor message from a remote vehicle indicating that the remote vehicle's sensor view is obstructed;
- determine that the vehicle is at least partially obstructing the remote vehicle's sensor view;
- determine a maneuver for the vehicle that reduces or eliminates the vehicle's obstruction of the remote vehicle's sensor view;
- and
- cause the vehicle to perform the determined maneuver.
A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to:
- receive a sensor message from a first vehicle indicating that the first vehicle's sensor view is obstructed;
- determine that a plurality of other vehicles are at least partially obstructing the first vehicle's sensor view;
- simulate a change in the first vehicle's sensor view based on one or more maneuvers of the plurality of other vehicles;
- determine that the one or more maneuvers reduce or eliminates the obstruction to the first vehicle's sensor view;
- and
- cause one or more of the plurality of other vehicles to perform the one or more maneuvers.
Dependencies are inferred from the claim text.