| CPC G01S 17/89 (2013.01) [B60W 10/18 (2013.01); B60W 30/0956 (2013.01); B60W 30/146 (2013.01); B60W 30/181 (2013.01); B60W 40/068 (2013.01); B60W 40/105 (2013.01); B60W 60/0011 (2020.02); G01S 17/58 (2013.01); G01S 17/931 (2020.01); G06V 10/25 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01); B60W 2420/52 (2013.01); B60W 2552/40 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] | 20 Claims |
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1. A method for autonomous navigation of an autonomous vehicle comprising:
for a first scan cycle:
accessing a first scan image containing data captured by a sensor on the autonomous vehicle at a first time;
identifying a first group of points in the first scan image representing a first object in a field proximal the autonomous vehicle, each point in the first group of points comprising:
a first position of a surface on the first object relative to the autonomous vehicle; and
a first radial velocity of the surface of the first object relative to the sensor;
calculating a first radial velocity of the first object, relative to the autonomous vehicle, at the first time based on a first measure of central tendency of first radial velocities of points in the first group of points; and
characterizing a first direction of uncertainty of motion of the first object at the first time along a first tangential direction perpendicular to the first radial velocity of the first object;
calculating a predicted second direction of uncertainty of motion of the first object at a second time succeeding the first time based on motion of the autonomous vehicle at the first time; and
in response to the second direction of uncertainty differing from the first direction of uncertainty, muting the first object from braking consideration for object avoidance by the autonomous vehicle at the second time.
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