US 12,240,499 B2
Detecting potentially occluded objects for autonomous vehicles
Jennifer Iglesias, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Aug. 16, 2023, as Appl. No. 18/234,587.
Application 18/234,587 is a continuation of application No. 17/734,375, filed on May 2, 2022, granted, now 11,767,038.
Application 17/734,375 is a continuation of application No. 16/552,426, filed on Aug. 27, 2019, granted, now 11,354,912, issued on Jun. 7, 2022.
Prior Publication US 2023/0391375 A1, Dec. 7, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); G05D 1/00 (2024.01); G06V 10/26 (2022.01); G06V 20/58 (2022.01); G06V 40/10 (2022.01)
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
OG exemplary drawing
 
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.