The technique involves detecting a nearby occluded object based on illumination emitted from the object. Illumination of one or more of the surrounding areas by the obscured object, such as headlights of the obscured vehicle, is detected by a perceptual system of the autonomous vehicle. The autonomous driving vehicle can classify detected objects to determine whether illumination is caused by the vehicle or other road user or by objects in the surrounding environment. The lighting data and other information can be evaluated by an autonomous vehicle, such as for identifying the type of an object, the location of an object along a road, disambiguating the direction of travel of other objects, etc. As a result, the autonomous vehicle may infer behavior of other objects and modify its own driving operation to account for the presence and possible behavior of other objects.
该技术涉及基于从附近被遮挡对象发射的照明来检测该对象。被遮挡对象对周围区域中的一个或更多个区域的照明,例如被遮挡车辆的前灯,由自动驾驶车辆的感知系统检测。自动驾驶车辆能够对检测到的对象进行分类,以确定照明是由车辆或其他道路用户引起的,还是由周围环境中的对象引起的。照明数据和其他信息能够由自动驾驶车辆评估,例如用于识别对象的类型、对象沿着道路的位置、消除其他对象的行进方向的歧义等。结果,自动驾驶车辆可以推断其他对象的行为并修改其自己的驾驶操作以考虑其他对象的存在和可能的行为。
Detecting occluded objects using presence of road surface and surrounding area illumination
使用路面和周围区域照明的存在来检测被遮挡对象
2022-05-06
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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