CPC B60W 60/0027 (2020.02) [B60W 30/146 (2013.01); B60W 30/18154 (2013.01); B60W 50/0097 (2013.01); B60W 60/0017 (2020.02); G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G06V 10/273 (2022.01); G06V 20/58 (2022.01); G06V 40/103 (2022.01); B60W 2552/53 (2020.02); B60W 2554/00 (2020.02); B60W 2554/4029 (2020.02)] | 20 Claims |
1. A method comprising:
receiving, by one or more processors and from a perception system of a vehicle, sensor data corresponding to a crosswalk;
updating, by the one or more processors and for the crosswalk, locations of a set of potential occluded objects based at least on speed characteristics of the set of potential occluded objects;
updating, by the one or more processors, the set of potential occluded objects based at least on an observation of another vehicle with respect to the crosswalk by at least one of:
adding, by the one or more processors, one or more additional potential occluded objects to the set of potential occluded objects in response to the sensor data being indicative of the other vehicle has entered the crosswalk; or
removing, by the one or more processors, one or more potential occluded objects from the set of potential occluded objects in response to the sensor data being indicative of the other vehicle has left the crosswalk; and
controlling the vehicle in an autonomous driving mode, by the one or more processors, based at least on the updated set of potential occluded objects.
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