Methods and systems for sun-aware vehicle routing

Patent metadata

Field	Value
Publication number	US-12061091-B2
Application number	US-202318156475-A
Country	US
Kind code	B2
Filing date	Jan 19, 2023
Priority date	Dec 14, 2017
Publication date	Aug 13, 2024
Grant date	Aug 13, 2024

Abstract

Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.

First claim

We claim:

1. An autonomous vehicle, comprising:
a mechanical system;
an image capture device configured to generate image data indicative of a traffic light;
a computer system in communication with the mechanical system and the image capture device, wherein the computer system comprises:
a processor; and
data storage, wherein the data storage contains instructions executable by the processor to perform functions comprising:
identifying a position and an orientation of the image capture device in an environment of the autonomous vehicle;
determining whether the sun will cause degradation in image quality of the image data indicative of the traffic light to a threshold low level, wherein the determining is based on a time of day, the position of the image capture device, and the orientation of the image capture device; and
responsive to a determination that the sun will cause degradation in image quality of the image data indicative of the traffic light to the threshold low level, generating a route to proactively avoid the sun causing the degradation in image quality of the image data indicative of the traffic light and operating the autonomous vehicle to travel along the route.

2. A method comprising:
identifying a position and an orientation of an image capture device of an autonomous vehicle in an environment of the autonomous vehicle, wherein the image capture device is configured to generate image data indicative of a traffic light;
determining whether the sun will cause degradation in image quality of the image data indicative of the traffic light to a threshold low level, wherein the determining is based on a time of day, the position of the image capture device, and the orientation of the image capture device; and
responsive to a determination that the sun will cause degradation in image quality of the image data indicative of the traffic light to the threshold low level, generating a route to proactively avoid the sun causing the degradation in image quality of the image data indicative of the traffic light and operating the autonomous vehicle to travel along the route.

3. The autonomous vehicle of claim 1 , wherein the functions further comprise:
determining the position and orientation of the image capture device based on the vehicle traveling through one or more locations in a geographic area.

4. The autonomous vehicle of claim 1 , wherein operating the autonomous vehicle to travel along the route comprises:
operating the vehicle to avoid travel of the vehicle through one or more locations in a geographic area.

5. The autonomous vehicle of claim 4 , wherein the one or more locations include at least one of a portion of a particular traffic lane, a portion of a particular road, or a portion of a particular intersection.

6. The autonomous vehicle of claim 1 , wherein determining whether the sun will cause degradation in image quality of the image data indicative of the traffic light to the threshold low level comprises:
determining an expected position of the sun with respect to a particular location for one or times of a particular day.

7. The autonomous vehicle of claim 6 , wherein determining the expected position of the sun with respect to the particular location comprises:
determining an altitude angle of the sun and an azimuth angle of the sun.

8. The autonomous vehicle of claim 1 , wherein determining whether the sun will cause degradation in image quality of the image data indicative of the traffic light to the threshold low level comprises:
determining whether the sun will be proximate to the traffic light within a field of view of the image capture device from a perspective of the image capture device.

9. The autonomous vehicle of claim 8 , wherein determining whether the sun will be proximate to the traffic light within the field of view of the image capture device from the perspective of the image capture device comprises:
determining whether one or more objects will result in occlusion of the sun from the perspective of the image capture device.

10. The autonomous vehicle of claim 1 , wherein the functions further comprise:
determining the orientation of the image capture device at the identified position based on elevation data.

11. The method of claim 2 , further comprising:
determining the orientation of the image capture device at the identified position based on elevation data.

12. The method of claim 2 , wherein determining whether the sun will cause degradation in image quality of the image data indicative of the traffic light to the threshold low level comprises:
determining whether the sun will be proximate to the traffic light within a field of view of the image capture device from a perspective of the image capture device.

13. The method of claim 2 , further comprising:
determining the position and orientation of the image capture device based on the vehicle traveling through one or more locations in a geographic area.

14. The method of claim 2 , wherein operating the autonomous vehicle to travel along the route comprises:
operating the vehicle to avoid travel of the vehicle through one or more locations in a geographic area.

15. The method of claim 14 , wherein the one or more locations include at least one of a portion of a particular traffic lane, a portion of a particular road, or a portion of a particular intersection.

16. The method of claim 2 , wherein determining whether the sun will cause degradation in image quality of the image data indicative of the traffic light to the threshold low level comprises:
determining an expected position of the sun with respect to a particular location for one or times of a particular day.

17. The method of claim 16 , wherein determining the expected position of the sun with respect to the particular location comprises:
determining an altitude angle of the sun and an azimuth angle of the sun.

18. The method of claim 12 , wherein determining whether the sun will be proximate to the traffic light within the field of view of the image capture device from the perspective of the image capture device comprises:
determining whether one or more objects will result in occlusion of the sun from the perspective of the image capture device.

Assignees

• Waymo Llc

Inventors

• Dittmer Jeremy
• Wendel Andreas

Classifications

• G05D2109/10

  Land vehicles · CPC title

• G05D2101/10

  using artificial intelligence [AI] techniques · CPC title

• G06T2207/10004

  Still image; Photographic image · CPC title

• B60W2556/25

  Data precision · CPC title

• B60W2556/20

  Data confidence level · CPC title