US 11,951,975 B1
Handling sensor occlusions for autonomous vehicles
Brandon Douglas Luders, Sunnyvale, CA (US); Vadim Furman, Los Gatos, CA (US); and Nathaniel Fairfield, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on May 2, 2022, as Appl. No. 17/734,709.
Application 17/734,709 is a continuation of application No. 16/890,274, filed on Jun. 2, 2020, granted, now 11,345,335.
Application 16/890,274 is a continuation of application No. 16/162,978, filed on Oct. 17, 2018, granted, now 10,705,526, issued on Jul. 7, 2020.
Application 16/162,978 is a continuation of application No. 15/299,764, filed on Oct. 21, 2016, granted, now 10,146,223, issued on Dec. 4, 2018.
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/00 (2006.01); G01S 13/931 (2020.01); G01S 17/00 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2006.01); G06V 20/56 (2022.01); G08G 1/16 (2006.01)
CPC B60W 30/00 (2013.01) [G01S 13/931 (2013.01); G01S 17/00 (2013.01); G01S 17/931 (2020.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G06V 20/588 (2022.01); G08G 1/167 (2013.01); G01S 2013/93271 (2020.01); G01S 2013/93272 (2020.01); G01S 2013/93274 (2020.01); G01S 2013/93277 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A method for maneuvering an autonomous vehicle, the method comprising:
maneuvering, by one or more processors of one or more computing devices, the autonomous vehicle along a route by generating trajectories for the autonomous vehicle to follow the route;
selecting, by the one or more processors, a first point at a location that is occluded with respect to sensors of a perception system of the autonomous vehicle;
determining, by the one or more processors, an amount of time for a hypothetical occluded object to travel between the first point and a second point on one of the trajectories; and
maneuvering, by the one or more processors, the autonomous vehicle based on the amount of time.