Bus detection for an autonomous vehicle

摘要

Methods and systems are provided that may allow an autonomous vehicle to discern a school bus from image data. An example method may include receiving image data indicative of a vehicles operating in an environment. The image data may depict sizes of the vehicles. The method may also include, based on relative sizes of the vehicles, determining a vehicle that is larger in size as compared the other vehicles. The method may additionally include comparing a size of the determined vehicle to a size of a school bus and based on the size of vehicle being within a threshold size of the school bus, comparing a color of the vehicle to a color of the school bus. The method may further include based on the vehicle being substantially the same color as the school bus, determining that the vehicle is representative of the school bus.

主权项

1. A method comprising:
receiving, by one or more processors of a computing device, image data indicative of one or more vehicles that are operating in an environment, the image data depicting sizes of respective vehicles of the one or more vehicles; the one or more processors determining a vehicle from the one or more vehicles that substantially fills a bounding box without exceeding the bounding box; the one or more processors comparing a size of the vehicle to information indicative of a size of a school bus; based on the size of the vehicle being within a threshold size of the size of the school bus, the one or more processors comparing a color of the vehicle to a color of a given school bus; and based on the vehicle being substantially the same color as the color of the given school bus, the one or more processors determining that the vehicle is representative of the given school bus.