CPC B60W 60/0011 (2020.02) [B60W 30/18154 (2013.01); B60W 40/04 (2013.01); G06V 20/584 (2022.01)] | 18 Claims |
1. A method comprising:
obtaining, by an on-board computer system of vehicle, viewshed data comprising a plurality of viewsheds for a plurality of respective traffic lights, each viewshed being generated from sensor detections of traffic lights by one or more vehicles, wherein each viewshed defines a three-dimensional volume for a respective traffic light;
receiving an indication of a candidate driving plan based on input from a traffic light detection of a particular traffic light, wherein the particular traffic light is associated with a particular viewshed of the plurality of viewsheds;
obtaining a current pose of the vehicle representing a location of the vehicle;
computing a sensor position of a sensor relative to the pose of the vehicle;
and
generating, by the on-board computer system of the vehicle, a modified driving plan that causes the vehicle to move such that the sensor position enters the three-dimensional volume defined by the particular viewshed for the particular traffic light; and
executing the modified driving plan and continuing to execute the modified driving plan while the sensor position of the vehicle is within the three-dimensional volume defined by the particular viewshed for the particular traffic light.
|