| CPC G01S 17/89 (2013.01) [G01C 21/3492 (2013.01); G01S 19/393 (2019.08); G05D 1/0221 (2013.01); G05D 1/0223 (2013.01); G06N 20/00 (2019.01)] | 22 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving first lidar data captured by a first sensor of an autonomous vehicle during a first period of time;
receiving first radar data captured by a second sensor of the autonomous vehicle during the first period of time;
updating, during a second period of time and based at least in part on the first lidar data and the first radar data, an object perception track to generate a first updated object perception track, the object perception track including historical object data and current object data based on the first lidar data and the first radar data, wherein the object perception track is indicative of a pose of an object over time and wherein the first updated object perception track is indicative of the pose of the object over time including during the first period of time;
receiving second radar data captured by the second sensor during a first portion of the second period of time while the first lidar data is unavailable;
updating, during a second portion of the second period of time while second lidar data is being captured by the first sensor and based exclusively on the second radar data, the first updated object perception track to generate a second updated object perception track, wherein the second updated object perception track is indicative of the pose of the object over time including during the first portion of the second period of time;
sending the second updated object perception track to a second system; and
controlling the autonomous vehicle based at least in part on the second updated object perception track.
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