US 12,415,513 B2
Systems and methods for controlling a vehicle using high precision and high recall detection
Derek J. Phillips, Mountain View, CA (US); Collin C. Otis, Driggs, ID (US); Andreas Wendel, Mountain View, CA (US); and Jackson P. Rusch, Mountain View, CA (US)
Assigned to Kodiak Robotics, Inc., Mountain View, CA (US)
Filed by Kodiak Robotics, Inc., Mountain View, CA (US)
Filed on Dec. 29, 2022, as Appl. No. 18/147,906.
Application 18/147,906 is a continuation in part of application No. 18/065,417, filed on Dec. 13, 2022.
Application 18/147,906 is a continuation in part of application No. 18/065,419, filed on Dec. 13, 2022, granted, now 12,258,041.
Application 18/147,906 is a continuation in part of application No. 18/065,421, filed on Dec. 13, 2022.
Prior Publication US 2024/0190424 A1, Jun. 13, 2024
Int. Cl. G06F 17/00 (2019.01); B60W 30/095 (2012.01); B60W 50/06 (2006.01); B60W 60/00 (2020.01); B60W 30/09 (2012.01)
CPC B60W 30/0956 (2013.01) [B60W 50/06 (2013.01); B60W 60/001 (2020.02); B60W 30/09 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 24 Claims
OG exemplary drawing
 
1. A method for detecting and tracking objects or obstacles in an environment of an autonomous vehicle, comprising:
receiving data from a set of sensors, wherein the data represents objects or obstacles in an environment of the autonomous vehicle; and
using a processor to perform the steps of:
generating high precision detection data based on the received data;
identifying, from the high precision detection data, a set of objects that are classifiable by at least one known classifier;
generating high recall detection data based on the received data;
identifying from the high recall detection data a set of obstacles; and
performing an operation on the high precision detection data of the objects and the high recall detection data of the obstacles, based on a status of the autonomous vehicle or based on one or more characteristics of the objects or the obstacles, wherein the operation comprises jointly optimizing the high precision detection data of the objects and the high recall detection data of the obstacles, when the autonomous vehicle is performing fallback maneuvers, and wherein the operation comprises determining a cover value between an obstacle in the high recall detection data and an object in the high precision detection data, by dividing area of intersection of the obstacle and the object by area of the obstacle.