US 12,263,865 B1
Validation of occlusions identified within autonomous vehicle driving environments
Nicholas Armstrong-Crews, Mountain View, CA (US); and Mayank Singal, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Sep. 8, 2022, as Appl. No. 17/940,384.
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2420/408 (2024.01); B60W 2554/4048 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a memory storing instructions; and
a processing device operatively coupled to the memory, wherein the instructions, when executed by the processing device, cause the processing device to perform operations comprising:
obtaining first sensor data from a driving environment of an autonomous vehicle (AV), the first sensor data corresponding to a field-of-view (FOV) of a radar sensor of the AV;
identifying, from the first sensor data, a potential occlusion within the driving environment;
obtaining second sensor data from the driving environment, the second sensor data corresponding to a FOV of a second sensor of the AV different from the first sensor;
reducing dimensionality of the second sensor data, wherein reducing the dimensionality of the second sensor data comprises ignoring portions of the second sensor data that satisfy one or more driving irrelevance criteria;
determining, from the second sensor data having reduced dimensionality, whether the potential occlusion is a false occlusion; and
in response to determining that the potential occlusion is a false occlusion, removing the false occlusion from the FOV of the first sensor.