DETERMINING OCCUPANCY OF OCCLUDED REGIONS

• Main Authors: Silva, William Anthony, Gier, Max
• Format: Patent
• Language: English
• Published: 09.09.2021
• Subjects: CALCULATING; COMPUTING; CONTROLLING; COUNTING; HANDLING RECORD CARRIERS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

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 or sensor limitation. An occluded region for an object is determined, along with one or more visible regions proximate the occluded region. Entry and/or exit regions may be determined based on known directions of traffic and/or drivable surface boundaries. Based on a threshold speed, the vehicle can designate portions of the occluded region as pseudo-visible. Additionally, if a dynamic object traverses through the occluded region from the entry region, a portion of the occluded region may be considered pseudo-visible. Pseudo-visibility may also be determined based on movement of an occluded area. The vehicle can be controlled to traverse the environment based on the pseudo-visibility.