公开(公告)号：US11280897B2

公开(公告)日：2022-03-22

申请号：US16371080

申请日：2019-03-31

Applicant: Waymo LLC

Inventor： Clayton Kunz ,  Larry Smith ,  Timothy Campbell

IPC: G01S13/86 ,  G01S7/40 ,  G01S13/931

Abstract: Disclosed are systems and methods that may be used for determining areas free of objects around a vehicle. The systems and methods include receiving first sensor data from a first sensor having a first field of view and a first range. The systems and methods also include receiving second sensor data from a second sensor having a second field of view and a second range. The systems and methods also include determining, by a processor, a first-sensor occlusion in the first field of view. The systems and methods further include determining, by the processor, an occlusion free-region of the first field of view based on data from the second sensor. Additionally, the systems and methods include operating, by the processor, the vehicle in an autonomous mode based on determining the occlusion free-region.

公开(公告)号：US20200309942A1

公开(公告)日：2020-10-01

申请号：US16371080

申请日：2019-03-31

Applicant: Waymo LLC

Inventor： Clayton Kunz ,  Larry Smith ,  Timothy Campbell

IPC: G01S13/86 ,  G01S13/93 ,  G01S7/40

Abstract: Disclosed are systems and methods that may be used for determining areas free of objects around a vehicle. The systems and methods include receiving first sensor data from a first sensor having a first field of view and a first range. The systems and methods also include receiving second sensor data from a second sensor having a second field of view and a second range. The systems and methods also include determining, by a processor, a first-sensor occlusion in the first field of view. The systems and methods further include determining, by the processor, an occlusion free-region of the first field of view based on data from the second sensor. Additionally, the systems and methods include operating, by the processor, the vehicle in an autonomous mode based on determining the occlusion free-region.