公开(公告)号：US11977165B2

公开(公告)日：2024-05-07

申请号：US16989434

申请日：2020-08-10

Applicant: Waymo LLC

Inventor： Mingcheng Chen ,  Xiaoxiang Hu ,  Richard Chaussee

IPC: G01S17/931 ,  G01S7/497 ,  G01S17/894 ,  G05D1/00

CPC classification number: G01S17/931 ,  G01S17/894 ,  G05D1/0088 ,  G01S7/497

Abstract: The technology relates to handling of self-reflections of sensor signals off of a portion of a vehicle that is operating in an autonomous driving mode. Vehicle pose information and sensor pose information are determined at a given point in time while operating in the autonomous driving mode. Return signals from one or more scans of the environment are received from onboard sensors such as lidar sensors. The system evaluates, based on the vehicle and sensor pose information, whether a segment between a given one of the one or more sensors and a received point from a selected one of the return signals crosses any surface of a 3D model of the vehicle. The received point is identified as a self-return point. In response to identifying the received point as a self-return point, the vehicle is able to perform a driving operation in the autonomous driving mode.