Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.


    Access

    Download


    Export, share and cite



    Title :

    Occlusion aware planning and control



    Publication date :

    2023-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    OCCLUSION AWARE PLANNING

    SILVA WILLIAM ANTHONY / ANGUELOV DRAGOMIR DIMITROV / ZWIEBEL BENJAMIN ISAAC et al. | European Patent Office | 2019

    Free access

    Occlusion aware planning

    SILVA WILLIAM ANTHONY / ANGUELOV DRAGOMIR DIMITROV / ZWIEBEL BENJAMIN ISAAC et al. | European Patent Office | 2021

    Free access

    Occlusion-Aware Motion Planning at Roundabouts

    Debada, Ezequiel / Ung, Adeline / Gillet, Denis | IEEE | 2021


    SYSTEMS, METHODS, AND MEDIA FOR OCCLUSION-AWARE MOTION PLANNING

    SMITH STEPHEN L / SADEGHI ARMIN / GILLULY BARRY et al. | European Patent Office | 2023

    Free access

    Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance

    Jian Zhang / Hailong Huang | DOAJ | 2021

    Free access