WO2022147382A3 - Object uncertainty models - Google Patents

Object uncertainty models Download PDF

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Publication number
WO2022147382A3
WO2022147382A3 PCT/US2021/072274 US2021072274W WO2022147382A3 WO 2022147382 A3 WO2022147382 A3 WO 2022147382A3 US 2021072274 W US2021072274 W US 2021072274W WO 2022147382 A3 WO2022147382 A3 WO 2022147382A3
Authority
WO
WIPO (PCT)
Prior art keywords
represent
occupied
environment
heat map
uncertainty model
Prior art date
Application number
PCT/US2021/072274
Other languages
French (fr)
Other versions
WO2022147382A2 (en
Inventor
Rasmus FONSECA
Marin KOBILAROV
Mark Jonathon McCLELLAND
Jack Riley
Original Assignee
Zoox, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US17/247,047 external-priority patent/US20220163966A1/en
Priority claimed from US17/247,048 external-priority patent/US11945469B2/en
Application filed by Zoox, Inc. filed Critical Zoox, Inc.
Publication of WO2022147382A2 publication Critical patent/WO2022147382A2/en
Publication of WO2022147382A3 publication Critical patent/WO2022147382A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/25—Data precision
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

Abstract

Techniques for representing sensor data and predicted behavior of various objects in an environment are described herein. For example, an autonomous vehicle can represent prediction probabilities as an uncertainty model that may be used to detect potential collisions, define a safe operational zone or drivable area, and to make operational decisions in a computationally efficient manner. The uncertainty model may represent a probability that regions within the environment are occupied using a heat map type approach in which various intensities of the heat map represent a likelihood of a corresponding physical region being occupied at a given point in time.
PCT/US2021/072274 2020-11-25 2021-11-08 Object uncertainty models WO2022147382A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US17/247,047 US20220163966A1 (en) 2020-11-25 2020-11-25 Object uncertainty models to assist with drivable area determinations
US17/247,048 2020-11-25
US17/247,047 2020-11-25
US17/247,048 US11945469B2 (en) 2020-11-25 2020-11-25 Object uncertainty models

Publications (2)

Publication Number Publication Date
WO2022147382A2 WO2022147382A2 (en) 2022-07-07
WO2022147382A3 true WO2022147382A3 (en) 2022-10-06

Family

ID=82261127

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2021/072274 WO2022147382A2 (en) 2020-11-25 2021-11-08 Object uncertainty models

Country Status (1)

Country Link
WO (1) WO2022147382A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3474254A1 (en) * 2016-06-17 2019-04-24 Hitachi Automotive Systems, Ltd. Surrounding environment recognition device
DE102019110759A1 (en) * 2018-05-02 2019-11-07 GM Global Technology Operations LLC SYSTEM AND METHOD FOR CONTROLLING AN AUTONOMIC VEHICLE
US20200110416A1 (en) * 2018-10-04 2020-04-09 Zoox, Inc. Trajectory prediction on top-down scenes
US20200174481A1 (en) * 2018-11-30 2020-06-04 Zoox, Inc. Probabilistic risk assessment for trajectory evaluation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3474254A1 (en) * 2016-06-17 2019-04-24 Hitachi Automotive Systems, Ltd. Surrounding environment recognition device
DE102019110759A1 (en) * 2018-05-02 2019-11-07 GM Global Technology Operations LLC SYSTEM AND METHOD FOR CONTROLLING AN AUTONOMIC VEHICLE
US20200110416A1 (en) * 2018-10-04 2020-04-09 Zoox, Inc. Trajectory prediction on top-down scenes
US20200174481A1 (en) * 2018-11-30 2020-06-04 Zoox, Inc. Probabilistic risk assessment for trajectory evaluation

Also Published As

Publication number Publication date
WO2022147382A2 (en) 2022-07-07

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