US 11,731,508 B2
Visually obstructed object detection for automated vehicle using V2V/V2I communications
Junsung Kim, Pittsburgh, PA (US); and Gaurav Bhatia, Pittsburgh, PA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Dec. 29, 2021, as Appl. No. 17/565,036.
Application 17/565,036 is a continuation of application No. 15/584,743, filed on May 2, 2017, granted, now 11,214,143.
Prior Publication US 2022/0126688 A1, Apr. 28, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60K 31/00 (2006.01); B60T 8/1755 (2006.01); G01S 13/931 (2020.01); G08G 1/16 (2006.01); G01S 7/00 (2006.01); G05D 1/02 (2020.01); G01S 17/931 (2020.01); G01S 13/86 (2006.01)
CPC B60K 31/0008 (2013.01) [B60T 8/17558 (2013.01); G01S 7/003 (2013.01); G01S 13/931 (2013.01); G01S 17/931 (2020.01); G05D 1/0287 (2013.01); G08G 1/161 (2013.01); G08G 1/163 (2013.01); G08G 1/166 (2013.01); B60T 2201/02 (2013.01); B60W 2554/80 (2020.02); G01S 13/86 (2013.01); G01S 2013/9316 (2020.01); G01S 2013/9319 (2020.01); G01S 2013/9323 (2020.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An automated vehicle comprising:
an object-detector;
a receiver;
a controller in communication with the object-detector and the receiver, said controller configured to:
obtain, using the receiver, data from two or more transmitters that indicate an object-presence associated with a hidden-object, wherein redundancy of the data is established and the hidden-object is valid;
determine, based on the data, a portion of a field-of-view of the object-detector that is obstructed;
determine, based at least in part on a comparison of a location of the hidden-object with the portion of the field-of-view of the object-detector that is obstructed, whether the hidden-object is positioned in the portion of the field-of-view of the object-detector that is obstructed; and
in accordance with the hidden-object being detected in the portion of the field-of-view that is obstructed, operate the automated vehicle to avoid interference with the hidden-object.