US 12,291,236 B1
Using the presence of road surface and surrounding area illumination to detect occluded objects
Mehmet Akman, Santa Cruz, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 6, 2020, as Appl. No. 17/091,136.
Int. Cl. B60W 60/00 (2020.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G05D 1/00 (2024.01); G08G 1/16 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/0956 (2013.01); G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); B60W 2420/40 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2554/20 (2020.02); B60W 2554/4023 (2020.02); B60W 2554/4026 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4044 (2020.02); B60W 2555/00 (2020.02)] 25 Claims
OG exemplary drawing
 
1. A method of operating a vehicle in an autonomous driving mode, the method comprising:
detecting, by one or more sensors of a perception system of the vehicle, at least a portion of one or more beam patterns created on a road segment by an occluded vehicle in an environment external to the vehicle operating in the autonomous driving mode;
determining, by one or more processors, an approximate speed and direction of travel of the occluded vehicle based on any of size or shape of the at least the portion of the one or more beam patterns;
inferring, by the one or more processors based on the approximate speed and direction of travel of the occluded vehicle, a behavior of the occluded vehicle; and
controlling, by the one or more processors, operation of the vehicle in the autonomous driving mode based on the inferred behavior of the occluded vehicle.