Controlling articulating sensors of an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11380204-B2
Application number	US-202016914421-A
Country	US
Kind code	B2
Filing date	Jun 28, 2020
Priority date	Aug 1, 2018
Publication date	Jul 5, 2022
Grant date	Jul 5, 2022

Abstract

An autonomous vehicle is described herein. The autonomous vehicle comprises a first sensor and a second sensor having limited fields of view, an articulation system, and a computing system. The computing system determines a first region and a second region external to the autonomous vehicle based on a sensor prioritization scheme comprising a ranking of regions surrounding the autonomous vehicle. The computing system then causes the articulation system to orient the first sensor towards the first region and the second region towards the second region. Responsive to receiving a sensor signal from the first sensor indicating that an object has entered a field of view of the first sensor, the computing system determines a third region having a higher ranking than the second region within the sensor prioritization scheme. The computing system then causes the articulation system to orient the second sensor towards the third region.

First claim

What is claimed is:

1. An autonomous vehicle, comprising:
a first sensor having a first limited field of view;
a second sensor having a second limited field of view;
an articulation system configured to orient the first sensor and the second sensor towards regions surrounding the autonomous vehicle;
a computing system that is in communication with the first sensor, the second sensor, and the articulation system, the computing system comprising:
a processor; and
memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
determining a ranking of regions external to the autonomous vehicle based on a maneuver being performed by the autonomous vehicle and whether an obstruction is detected in the first limited field of view of the first sensor or the second limited field of view of the second sensor during the maneuver; and
causing the articulation system, based on the ranking of the regions, to orient the first sensor towards a first region such that the first limited field of view encompasses the first region and orient the second sensor towards a second region such that the second limited field of view encompasses the second region.

2. The autonomous vehicle of claim 1 , wherein the articulation system is caused to continually orient the first sensor towards the first region and to continually orient the second sensor towards the second region as the autonomous vehicle performs the maneuver.

3. The autonomous vehicle of claim 1 , wherein the memory further stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts further comprising:
responsive to receiving a sensor signal from the first sensor indicating that an object has entered the first limited field of view of the first sensor, determining an updated ranking of the regions external to the autonomous vehicle based on the maneuver being performed by the autonomous vehicle and the object being in the first limited field of view of the first sensor; and
causing the articulation system to reorient the second sensor based on the updated rankings of the regions.

4. The autonomous vehicle of claim 3 , wherein the memory further stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts further comprising:
assigning a label to the object that has entered the first limited field of view of the first sensor.

5. The autonomous vehicle of claim 1 , wherein the ranking of the regions external to the autonomous vehicle is further determined based on a phase of the maneuver, wherein the maneuver comprises a plurality of phases.

6. The autonomous vehicle of claim 1 , wherein the first sensor is a first radar sensor and the second sensor is a second radar sensor.

7. The autonomous vehicle of claim 1 , wherein the first sensor is a first lidar sensor and the second sensor is a second lidar sensor.

8. The autonomous vehicle of claim 1 , wherein the first sensor is a first camera and the second sensor is a second camera.

9. The autonomous vehicle of claim 1 , wherein determining the ranking of the regions external to the autonomous vehicle occurs responsive to causing the autonomous vehicle to begin to execute the maneuver.

10. The autonomous vehicle of claim 1 , wherein the memory further stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts further comprising:
selectively causing the autonomous vehicle to complete execution of the maneuver based at least in part on a first sensor signal from the first sensor and a second sensor signal from the second sensor.

11. The autonomous vehicle of claim 1 , wherein the articulation system orients the first sensor and the second sensor in a plane parallel to a road on which the autonomous vehicle is operating.

12. A method performed by an autonomous vehicle, the autonomous vehicle comprising a first sensor having a first limited field of view, a second sensor having a second limited field of view, and an articulation system, the method comprising:
determining a ranking of regions external to the autonomous vehicle based on a maneuver being performed by the autonomous vehicle and whether an obstruction is detected in the first limited field of view of the first sensor or the second limited field of view of the second sensor during the maneuver; and
causing the articulation system, based on the ranking of the regions, to orient the first sensor towards a first region such that the first limited field of view encompasses the first region and orient the second sensor towards a second region such that the second limited field of view encompasses the second region.

13. The method of claim 12 , wherein the articulation system is caused to continually orient the first sensor towards the first region and to continually orient the second sensor towards the second region as the autonomous vehicle performs the maneuver.

14. The method of claim 12 , further comprising:
responsive to receiving a sensor signal from the first sensor indicating that an object has entered the first limited field of view of the first sensor, determining an updated ranking of the regions external to the autonomous vehicle based on the maneuver being performed by the autonomous vehicle and the object being in the first limited field of view of the first sensor; and
causing the articulation system to reorient the second sensor based on the updated rankings of the regions.

15. The method of claim 14 , further comprising:
assigning a label to the object that has entered the first limited field of view of the first sensor.

16. The method of claim 12 , wherein the ranking of the regions external to the autonomous vehicle is further determined based on a phase of the maneuver, wherein the maneuver comprises a plurality of phases.

17. The method of claim 12 , wherein determining the ranking of the regions external to the autonomous vehicle occurs responsive to causing the autonomous vehicle to begin to execute the maneuver.

18. The method of claim 12 , further comprising:
selectively causing the autonomous vehicle to complete execution of the maneuver based at least in part on a first sensor signal from the first sensor and a second sensor signal from the second sensor.

19. An autonomous vehicle, comprising:
a first sensor having a first limited field of view;
a second sensor having a second limited field of view;
an articulation system configured to orient the first sensor and the second sensor towards regions surrounding the autonomous vehicle;
a computing system that is in communication with the first sensor, the second sensor, and the articulation system, the computing system comprising:
a processor; and
memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
causing the articulation system to orient the first sensor towards a first region such that the first limited field of view encompasses the first region and orient the second sensor towards a second region such that the second limited field of view encompasses the second region, the articulation system being caused to orient the first sensor and the second sensor based on a maneuver being performed by the autonomous vehicle and whether an obstruction is detected in the first limited field of view of the first sensor or the second limited field of view of the second sensor during the maneuver.

Assignees

• Gm Global Tech Operations Llc

Inventors

• Branson Elliot
• Lujan Eric
• Weinstein-Raun Benjamin Earle

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• H04N23/695

  Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title