Methods and Systems for Clearing Sensor Occlusions

摘要

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

主权项

1. A method comprising:
identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects; operating a first sensor on the autonomous vehicle to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region; determining, based on at least the scan obtained by the first sensor, whether a second sensor on the autonomous vehicle has a sufficiently clear view of the target region to monitor the target region for presence of moving objects; and based on at least a determination that the second sensor has a sufficiently clear view of the target region, operating the second sensor to monitor the target region for presence of moving objects.