US 12,296,856 B2
Autonomous vehicle blind spot management
Nemanja Djuric, Pittsburgh, PA (US); Shivam Gautam, Austin, TX (US); and Abhishek Mohta, Santa Clara, CA (US)
Assigned to Aurora Operations, Inc., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Mountain View, CA (US)
Filed on Oct. 14, 2022, as Appl. No. 18/046,839.
Prior Publication US 2024/0124028 A1, Apr. 18, 2024
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0027 (2020.02) [B60W 2300/145 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4044 (2020.02); B60W 2720/106 (2013.01); B60W 2720/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling an autonomous vehicle comprising a tractor and a trailer, the method comprising:
accessing sensor position data describing a position of a first sensor on the autonomous vehicle;
accessing actor position data describing a position of a first actor in an environment of the autonomous vehicle;
determining a pose of the trailer, the pose of the trailer describing a position of the trailer;
determining, using the pose of the trailer, that a line from the position of the first sensor to the position of the first actor intersects the trailer;
determining that the first actor is in a blind spot of the autonomous vehicle based at least in part on the determining that the line from the position of the first sensor to the position of the first actor intersects the trailer;
generating a motion plan for the autonomous vehicle based at least in part on the determining that the first actor is in the blind spot of the autonomous vehicle; and
controlling the autonomous vehicle in accordance with the motion plan.