US 11,727,595 B2
Assessing visibility of a target object with autonomous vehicle fleet
Katherine Mary Stumpf, San Francisco, CA (US); and Andrew David Acosta, San Francisco, CA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Sep. 29, 2021, as Appl. No. 17/489,140.
Application 17/489,140 is a continuation of application No. 16/872,497, filed on May 12, 2020, granted, now 11,176,703.
Prior Publication US 2022/0020172 A1, Jan. 20, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/80 (2017.01); G06T 7/73 (2017.01); H04W 4/44 (2018.01); G06T 7/90 (2017.01); G01C 21/30 (2006.01); G01S 17/931 (2020.01)
CPC G06T 7/74 (2017.01) [G01C 21/30 (2013.01); G01S 17/931 (2020.01); G06T 7/90 (2017.01); H04W 4/44 (2018.02); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle (AV) comprising:
a camera;
a memory to store an image of a target object and an expected location of the target object;
a processor configured to:
compare a current location of the AV to the expected location of the target object to determine that the AV is traveling past the expected location,
in response to determining that the AV is traveling past the expected location, retrieving an image, captured by the camera, of a field of view comprising the expected location of the target object, and
compare the captured image to the image of the target object to determine a visibility of the target object; and
communications circuitry configured to provide, to a remote system, visibility data describing the visibility of the target object.