An autonomous vehicle navigates an environment in which occlusions block the vehicle's ability to detect moving objects. The vehicle handles this by receiving sensor data corresponding to the environment, identifying one or more particles of a plurality of initialized particles that have a nonzero probability of being associated with a potential occluded actor in the occluded region, and generating a trajectory of the autonomous vehicle for traversing the environment based on spatiotemporal reasoning about the occluded region and taking into account the one or more particles. Each particle may be associated with a potential actor.
METHODS AND SYSTEMS FOR HANDLING OCCLUSIONS IN OPERATION OF AUTONOMOUS VEHICLE
VERFAHREN UND SYSTEME ZUR HANDHABUNG VON OKKLUSIONEN BEIM BETRIEB EINES AUTONOMEN FAHRZEUGS
PROCÉDÉS ET SYSTÈMES DE GESTION D'OCCLUSIONS DANS LE FONCTIONNEMENT D'UN VÉHICULE AUTONOME
2024-06-19
Patent
Elektronische Ressource
Englisch
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