Aspects of the present disclosure relate to controlling a vehicle 100 having an autonomous driving mode. For example, it may be determined that a vehicle is approaching a pedestrian crosswalk 440, 442, 444. A set of road segments 1-5 may be identified for a pedestrian crosswalk. A set of potentially occluded pedestrians A-O may be generated. Each potentially occluded pedestrian in the set is assigned a speed characteristic and a road segment. The segments of the set of potentially occluded pedestrians may be updated over time using the assigned velocity characteristics. Sensor data from a perceptual system 172 of the vehicle is received, and one or more potentially occluded pedestrians having updated assigned segments corresponding to segments visible to the perceptual system of the vehicle may be removed from the set of potentially occluded pedestrians. After removal, the set may be used to control the vehicle in an autonomous driving mode.
本公开的各方面涉及控制具有自主驾驶模式的车辆100。例如,可以确定车辆正在靠近人行横道440、442、444。可以针对人行横道识别路段1‑5的集合。可以生成潜在被遮挡行人A‑O的集合。集合中的每个潜在被遮挡行人被分配速度特性和路段。可以使用分配的速度特性随时间更新潜在被遮挡行人的集合的路段。接收来自车辆的感知系统172的传感器数据,并且可以从潜在被遮挡行人的集合移除具有与对车辆的感知系统可见的路段对应的更新的分配路段的一个或多个潜在被遮挡行人。在移除之后,该集合可以用于以自主驾驶模式控制车辆。
Detecting potentially occluded objects for autonomous vehicles
针对自主车辆检测潜在被遮挡对象
2022-04-05
Patent
Elektronische Ressource
Chinesisch
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