Sensor field of view mapping

Patent metadata

Field	Value
Publication number	US-11029409-B2
Application number	US-202016985296-A
Country	US
Kind code	B2
Filing date	Aug 5, 2020
Priority date	Sep 19, 2018
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

Abstract

A map of an area is generated from first sensor data of a first field of view including a blocked area and second sensor data of a second field of view having an unblocked view of the blocked area.

First claim

What is claimed is:

1. A method, comprising:
generating, in a computer, a map of an area from first sensor data of a first field of view of a first sensor including a blocked area, and second sensor data of a second field of view of a second sensor having an unblocked view of the blocked area in the first field of view, wherein the second field of view is determined based on at least one of a position of the second sensor, a position of an obstacle, and a size of the obstacle; and
providing the map to a vehicle for the vehicle to control vehicle operation based on the map.

2. The method of claim 1 , further comprising moving the second sensor from a first position providing the first field of view to a second position providing the second field of view.

3. The method of claim 1 , wherein the first sensor data and the second sensor data are respectively from a first sensor and second sensor.

4. The method of claim 3 , wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is included on a vehicle.

5. The method of claim 3 , wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is mounted to one of a movable platform attached to the infrastructure node or an unmanned aerial vehicle.

6. The method of claim 1 , wherein identifying the blocked area includes determining a position and a size of the object.

7. The method of claim 1 , further comprising generating the map based on third sensor data for a field of view of a second blocked area.

8. The method of claim 1 , further comprising defining the blocked area based on lines of sight emanating from the first sensor.

9. A system, comprising a computer including a processor and a memory,
the memory storing instructions executable by the processor to:
generate a map of an area from first sensor data of a first field of view of a first sensor including a blocked area, and second sensor data of a second field of view of a second sensor having an unblocked view of the blocked area in the first field of view, wherein the second field of view is determined based on at least one of a position of the second sensor, a position of an obstacle, and a size of the obstacle; and
provide the map to a vehicle for the vehicle to control vehicle operation based on the map.

10. The system of claim 9 , the instructions further comprising instructions to move the second sensor from a first position providing the first field of view to a second position providing the second field of view.

11. The system of claim 9 , wherein the first sensor data and the second sensor data are respectively from a first sensor and second sensor.

12. The system of claim 11 , wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is included on a vehicle.

13. The system of claim 11 , wherein the first sensor is mounted to a stationary infrastructure node and the second sensor is mounted to one of a movable platform attached to the infrastructure node or an unmanned aerial vehicle.

14. The system of claim 9 , wherein identifying the blocked area includes determining a position and a size of the object.

15. The system of claim 9 , the instructions further comprising instructions to generate the map based on third sensor data for a field of view of a second blocked area.

16. The system of claim 9 , the instructions further comprising instructions to define the blocked area based on lines of sight emanating from the first sensor.

Assignees

• Ford Global Tech Llc

Inventors

• Cionca Codrin
• Parchami Mostafa
• Zhao Zhen
• Castorena Martinez Juan Enrique

Classifications

• B64U2101/00

  UAVs specially adapted for particular uses or applications · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• H04W4/46

  for vehicle-to-vehicle communication [V2V] · CPC title

• G01S15/86

  Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection · CPC title

• G01S15/89

  for mapping or imaging · CPC title