Distributed sensing for vehicle navigation

Patent metadata

Field	Value
Publication number	US-11892841-B2
Application number	US-202016880046-A
Country	US
Kind code	B2
Filing date	May 21, 2020
Priority date	Aug 30, 2018
Publication date	Feb 6, 2024
Grant date	Feb 6, 2024

Abstract

A set of sensor information may include first sensor information generated based on a first sensor of a first vehicle and second sensor information generated based on a second sensor of a second vehicle. Individual sensor information may characterize positions of objects in an environment of individual sensors. Relevant sensor information for a vehicle may be determined based on the set of sensor information and a position of the vehicle. The relevant sensor information may characterize positions of objects in a maneuver environment of the vehicle. A desired navigation of the vehicle in the maneuver environment of the vehicle may be determined based on the relevant sensor information. An instruction may be provided to the vehicle based on the desired navigation of the vehicle. The instruction may characterize one or more maneuvers to be performed by the vehicle to execute the desired navigation.

First claim

The invention claimed is:

1. A computing system comprising:
one or more processors; and
a memory storing instructions that, when executed by the one or more processors, cause the computing system to perform:
obtaining a location and first sensor information associated with a first vehicle, wherein the first sensor information includes information relating to objects around the first vehicle;
based on a current navigation action and a planned navigation action of the first vehicle:
determining a boundary and a shape of a maneuver environment of the first vehicle based on a degree of curvature of a road through which the first vehicle is traversing, wherein the maneuver environment represents surrounding areas of planned navigation of the first vehicle and which affect the planned navigation of the first vehicle and the maneuver environment changes according to the planned navigation;
obtaining information from a second sensor disposed on a second vehicle, wherein the boundary and the shape of the maneuver environment are further determined based on a movement of the second vehicle and one or more other vehicles;
obtaining information from a third sensor, wherein the third sensor comprises a stationary, non-vehicular sensor, and wherein the second sensor, and the third sensor are within the maneuver environment, and the information from the second sensor and the information from the third sensor comprise alerts;

processing the information of the second sensor and the information of the third sensor, wherein the processing of the information comprises filtering the alerts based on degrees of severity of the alerts;
compensating, based on movement information of objects detected by the second sensor and the third sensor, the information for delays of obtaining and processing the information;
in response to compensating the information for delays, transmitting the information from the second sensor to the first vehicle and from the first sensor to the second vehicle, and transmitting the information from the third sensor to the first vehicle;
determining movements of objects around the first vehicle based on the first sensor information and based on the information from the second sensor and the third sensor;
estimating, based on the movements of the objects, and based on the delays, a subset of the objects in an environment associated with the first vehicle;
updating, by a recipient vehicle of the transmitted information, the transmitted information based on the estimated subset of the objects;
issuing a command to the first vehicle to modify the planned navigation action of the first vehicle based on the updated transmitted information; and
controlling, by the first vehicle, a navigation according to the command, wherein the navigation comprises a physical action.

2. The computing system of claim 1 , wherein the first sensor information includes a change to a terrain in a location around the first vehicle; and the instructions further cause the computing system to perform:
updating a map based on the change to the terrain, an expected size of an area impacted by the change, and an expected duration of the change.

3. The computing system of claim 2 , wherein the updating a map is in response to a rock being disposed in the maneuverable environment or debris covering a portion of the environment.

4. The computing system of claim 2 , wherein the updating a map comprises:
determining whether the expected duration of the change to the terrain satisfies a threshold duration;
in response to determining that the expected duration of the change to the terrain satisfies the threshold duration, updating the map based on the change to the terrain; and
in response to determining that the expected duration of the change to the terrain is shorter than the threshold duration, not incorporating the change to the terrain into the map.

5. The computing system of claim 2 , wherein the updating a map comprises:
determining whether the size of the area satisfies a threshold size;
in response to determining that the size of the area satisfies the threshold size, updating the map based on the change to the terrain; and
in response to determining that the size of the area is smaller than the threshold size, not incorporating the change to the terrain into the map.

6. The computing system of claim 1 , wherein the estimating the subset of the objects in the environment associated with the first vehicle is based on an acceleration of the first vehicle.

7. The computing system of claim 1 , wherein the selecting of the second sensor and the third sensor are based on an acceleration of the first vehicle.

8. The computing system of claim 1 , wherein the instructions further cause the one or more processors to perform transmitting entertainment information bidirectionally between the first vehicle and the second vehicle.

9. The computing system of claim 1 , wherein the third sensor has a smaller range of detection compared to the second sensor.

10. The computing system of claim 1 , wherein the second sensor has a different scan rate compared to the first sensor.

11. The computing system of claim 10 , wherein the second vehicle is disposed behind the first vehicle, the first vehicle and the second vehicle are navigating along a curve, and the second sensor is at least partially obstructed in view by the first vehicle.

12. A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising:
obtaining a location and first sensor information associated with a first vehicle, wherein the first sensor information includes information relating to objects around the first vehicle;
based on a current navigation action and a planned navigation action of the first vehicle:
determining a boundary and a shape of a maneuver environment of the first vehicle based on a degree of curvature of a road through which the first vehicle is traversing, wherein the maneuver environment represents surrounding areas of planned navigation of the first vehicle and which affect the planned navigation of the first vehicle and the maneuver environment changes according to the planned navigation;
obtaining information from a second sensor disposed on a second vehicle, wherein the boundary and the shape of the maneuver environment are further determined based on a movement of the second vehicle and one or more other vehicles;
obtaining information from a third sensor, wherein the third sensor comprises a stationary, non-vehicular sensor, and wherein the second sensor, and the third sensor are within the maneuver environment, and the information from the second sensor and the information from the third sensor comprise alerts;
processing the information of the second sensor and the information of the third sensor, wherein the processing of the information comprises filtering the alerts based on degrees of severity of the alerts;
compensating, based on movement information of objects detected by the second sensor and the third sensor, the information for delays of obtaining and processing the information;
in response to compensating the information for delays, transmitting the information from the second sensor to the first vehicle and from the first sensor to the second vehicle, and transmitting the information from the third sensor to the first vehicle;
determining movements of objects around the first vehicle based on the first sensor information and based on the information from the second sensor and the third sensor;
estimating, based on the movements of the o

Assignees

• Pony Ai Inc

Inventors

• Wang Jianan
• Deng Nengxiu
• Yu Xiang
• Lou tiancheng
• Peng Jun
• Chen Kai
• Song Hao

Classifications

• G05D1/0088 Primary

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D1/0285

  using signals transmitted via a public communication network, e.g. GSM network · CPC title

• G05D1/0287

  involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16) · CPC title

• G05D2201/0213

  Physics · mapped topic

• G08G1/096827 Primary

  where the route is computed onboard · CPC title