Techniques for determining occupancy using unoccluded sensor emissions are disclosed. For example, a vehicle may receive sensor data from one or more sensors. The sensor data may represent at least a location to a point within the environment. Using the sensor data, the vehicle may determine an area within the environment occluded by the object (e.g., a location where the object is located). The vehicle may also use the sensor data to determine areas within the environment that are not occluded by the object (e.g., where no object is located). In some examples, the vehicle determines an unoccluded region as a region included between the vehicle and the identified object. This is because sensor emissions from the sensors pass through these areas and then are reflected by objects located farther from the vehicle. The vehicle may then generate a map indicative of at least occluded and unoccluded areas within the environment.
本申请公开了使用无遮挡传感器发射来确定占用的技术。例如,车辆可以从一个或多个传感器接收传感器数据。传感器数据可以至少表示到环境内点的位置。使用传感器数据,车辆可以确定环境内被对象遮挡的区域(例如,对象所位于的位置)。车辆还可以使用传感器数据来确定环境内未被对象遮挡的区域(例如,没有对象被定位的位置)。在一些示例中,车辆将无遮挡区域确定为包括在车辆与所识别的对象之间的区域。这是因为来自传感器的传感器发射通过这些区域并且然后被位于距车辆较远距离的对象反射。车辆然后可以生成至少指示环境内的遮挡区域和无遮挡区域的地图。
Determining occupancy using unoccluded sensor emissions
使用无遮挡传感器发射确定占用
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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