US 12,454,266 B1
Assessing perception of sensor using known mapped 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 Jan. 23, 2023, as Appl. No. 18/100,254.
Application 18/100,254 is a continuation of application No. 16/807,483, filed on Mar. 3, 2020, granted, now 11,590,978.
Int. Cl. B60W 30/18 (2012.01); B60R 11/04 (2006.01); G05D 1/00 (2006.01); G06V 20/58 (2022.01)
CPC B60W 30/18154 (2013.01) [B60R 11/04 (2013.01); G05D 1/0223 (2013.01); G06V 20/582 (2022.01); G06V 20/584 (2022.01); B60R 2300/80 (2013.01); B60W 2554/20 (2020.02); B60W 2554/802 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A vehicle for driving in an autonomous driving mode, the vehicle comprising:
a perception system including a plurality of sensors mounted in different orientations relative to the vehicle; and
one or more processors configured to:
identify, a location of a mapped object from map information;
as the vehicle approaches the location of the mapped object, process sensor data generated by using a first sensor of the plurality of sensors to determine a time when an object corresponding to the mapped object was first detected in the vehicle's environment;
estimate a location of the object by using a second sensor of the plurality of sensors that is different from the first sensor;
determine a distance between the estimated location of the object and a location of the vehicle at the time when the object was first detected in the vehicle's environment by using the sensor data generated by the first sensor; and
control the vehicle to make driving decisions in the autonomous driving mode based on the determined distance.