In-path obstacle detection and avoidance system

Patent metadata

Field	Value
Publication number	US-11544936-B2
Application number	US-201916722931-A
Country	US
Kind code	B2
Filing date	Dec 20, 2019
Priority date	Dec 20, 2019
Publication date	Jan 3, 2023
Grant date	Jan 3, 2023

Abstract

A vehicle can include various sensors to detect objects in an environment. In some cases, the object may be within a planned path of travel of the vehicle. In these cases, leaving the planned path may be dangerous to the passengers so the vehicle may, based on dimensions of the object, dimensions of the vehicle, and semantic information of the object, determine operational parameters associate with passing the object while maintaining a position within the planned path, if possible.

First claim

What is claimed is:

1. A vehicle comprising:
a sensor;
one or more processors;
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the vehicle to perform operations comprising:
causing the vehicle to traverse a planned path;
receiving sensor data from the sensor;
determining, based at least in part on the sensor data, an object intersects the planned path;
determining a surface associated with a ground;
determine a minimum distance of the object from the surface and a maximum height of the object from the surface;
determine, based on one or more of the minimum distance or maximum height, a region surrounding the vehicle; and
controlling operations of the vehicle based at least in part on the region, wherein controlling operations of the vehicle is further based at least in part on a distance of the region from the vehicle and an amount of traffic in an adjacent lane.

2. The vehicle of claim 1 , wherein determining the surface associated with the ground comprises:
associating the sensor data with a voxel space;
determining one or more voxels associated with the ground; and
fitting a plane to the one or more voxels.

3. The vehicle of claim 2 , wherein the region includes at least a first region and a second region, the first region defining a first distance from the vehicle and the second region defining a second distance from the vehicle, the first distance different than the second distance and wherein controlling the operations of the vehicle comprises applying a first set of operating parameters when on one or more of the minimum distance or the maximum height protrudes within the first region and a second set of operating parameters when one or more of the minimum distance or the maximum height protrudes within the second region.

4. The vehicle of claim 1 , further comprising:
determining, based at least in part on the sensor data, a semantic class of the object; and
determining the semantic class meets or exceeds a semantic class criterion,
wherein controlling the operations of the vehicle is further based at least in part on the semantic class.

5. A method comprising:
receiving from a sensor of an autonomous vehicle data representative of a physical environment;
determining, based at least in part on the data, at least a portion of a representation of an object is within a planned path of the vehicle;
determining, based at least in part on the data, a surface associated with the planned path;
determining a distance associated with the object and the surface;
determining a first region associated with the vehicle based at least in part on the distance, the first region intersecting at least a portion of the representation of the object; and
controlling operations of the vehicle based at least in part on the first region, wherein controlling operations of the vehicle is further based at least in part on a distance of the first region from the vehicle and an amount of traffic in an adjacent lane.

6. The method of claim 5 , further comprising:
determining a semantic class of the object; and
wherein controlling the operations of the vehicle is further based at least in part on the semantic class.

7. The method of claim 5 , further comprising:
determining a second region associated with the vehicle based at least in part on the distance, the second region failing to intersect with the object and the second region contained within the first region; and
wherein controlling the operations of the vehicle is further based at least in part on the second region.

8. The method of claim 5 , wherein the first region is determined based at least in part on a velocity of the vehicle.

9. The method of claim 5 , wherein the surface is at least one of a ground surface or a side surface of a corridor associated with the planned path of the vehicle.

10. The method of claim 5 , wherein controlling the operations of the vehicle comprise adjusting a velocity of the vehicle based at least in part on the distance of the first region from the vehicle.

11. The method of claim 5 , wherein the first region is defined as a predetermined distance from a closest point along an exterior surface of the vehicle.

12. The method of claim 5 , wherein the distance is at least one of a maximum height of the object or a minimum distance of the object from the surface.

13. A non-transitory computer-readable medium storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
receiving from a sensor of an autonomous vehicle data representative of a physical environment;
determining, based at least in part on the data, at least a portion of a representation of an object is within a planned path of the vehicle;
determining, based at least in part on the data, a surface associated with the planned path;
determining a distance associated with the object and the surface;
determining a plurality of regions associated with the vehicle;
determining at least a first region of the plurality of regions intersects at least a first portion of the representation of the object based at least in part on the distance; and
controlling operations of the vehicle based at least in part on the first region, wherein controlling operations of the vehicle is further based at least in part on a distance of the first region from the vehicle and an amount of traffic in an adjacent lane.

14. The non-transitory computer-readable medium of claim 13 , further comprising:
determining at least a second region of the plurality of regions intersects at least a second portion of the representation of the object based at least in part on the distance, wherein controlling the operations of the vehicle is further based at least in part on the second region.

15. The non-transitory computer-readable medium of claim 13 , wherein determining the surface associated with the planned path comprises:
associating the data representative of the physical environment with a voxel space;
determining one or more voxels associated with a ground of the physical environment; and
fitting a plane to the one or more voxels.

16. The non-transitory computer-readable medium of claim 13 , the operations further comprising:
determining a semantic class of the object; and
wherein controlling the operations of the vehicle is further based at least in part on the semantic class.

17. The non-transitory computer-readable medium of claim 16 , wherein the semantic class is at least one of a pedestrian, walls or structures, foliage, rocks, vegetation, vehicles, vehicle doors, debris or clutter, bikes, or traffic signals or cones.

18. The non-transitory computer-readable medium of claim 13 , wherein the distance associated with the object and the surface comprises a maximum height of the object from the surface and a minimum distance of the object from the surface and determining at least the first region of the plurality of regions intersects at least the first portion of the representation of the object includes at least one of the maximum height being less than a first threshold associated with a bottom surface of the vehicle or the minimum distance being greater than a second threshold associated with a top of the vehicle.

19. The non-transitory computer-readable medium of claim 13 , wherein the representation of the object comprises a bounding box, and wherein determining at least the first r

Assignees

• Zoox Inc

Inventors

• Chen Yuanyuan
• Hudecek Janek
• Pfeiffer David
• Philbin James William Vaisey
• Wang Zeng

Classifications

• G06V20/58 Primary

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• B60W2554/20

  Static objects · CPC title

• B60W60/001 Primary

  Planning or execution of driving tasks · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title