公开(公告)号：US12263865B1

公开(公告)日：2025-04-01

申请号：US17940384

申请日：2022-09-08

Applicant: Waymo LLC

Inventor： Nicholas Armstrong-Crews ,  Mayank Singal

IPC: B60W60/00

Abstract: A method includes obtaining, by a processing device, radar sensor data from a driving environment of an autonomous vehicle (AV). The radar sensor data corresponds to a field-of-view (FOV) of a radar sensor of the AV. The method further includes identifying, by the processing device from the radar sensor data, a potential occlusion within the driving environment, obtaining, by the processing device, non-radar sensor data from the driving environment, the non-radar sensor data corresponding to a FOV of a non-radar sensor of the AV, determining, by the processing device from the non-radar sensor data, whether the potential occlusion is a false occlusion, and in response to determining that the potential occlusion is a false occlusion, removing, by the processing device, the false occlusion from the FOV of the radar sensor.