Predictive frozen scene for uninterrupted operation of automated evasive maneuver systems
A vehicle control system including a sensor for detecting an object location, a memory for storing an environment map indicative of a driving environment coordinated with a host vehicle location, a processor configured to estimate a line and object quality, to determine an uncertainty in response to historical motion of the objects, to detect a loss of sensor data in response to the data signal, to generate a frozen scene construction in response to the line and object quality and the uncertainty, to localize a host vehicle location with respect to the frozen scene construction, to regenerate an object data and a lane data in response to the frozen science and the localized host vehicle location, and to generate a vehicle motion path in response to the object data and lane data, and a vehicle controller for controlling the host vehicle in response to the vehicle motion path.
1 . A system for performing a vehicle maneuver comprising:
a sensor set to generate a data signal indicative of an object location and a lane line location;
a memory having instructions stored thereon; and
a processor coupled to the memory and the sensor set, the processor to execute the instructions to:
determine a lane line quality and an object quality;
detect a loss of sensor data from the sensor set;
estimate a lane line and object quality,
determine an uncertainty in response to historical motion of the objects,
generate a frozen scene construction in response to the lane line and object quality and the uncertainty,
localize a host vehicle location with respect to the frozen scene construction using an environment map stored in the memory,
regenerate an object data and a lane data in response to the frozen scene and the localized host vehicle location, and
generate a vehicle motion path in response to the regenerated object data and lane data; and
a vehicle controller in communication with the processor, the vehicle controller to control the host vehicle in response to the vehicle motion path.
2 . The system for performing the vehicle maneuver of claim 1 wherein the sensor set includes a vehicle mounted camera and wherein the object location is determined in response to an image recognition algorithm performed by an image processor.
3 . The system for performing the vehicle maneuver of claim 1 wherein the vehicle maneuver algorithm is initiated in response to an acceleration detected by an inertial measurement unit exceeding a threshold value.
4 . The system for performing the vehicle maneuver of claim 1 wherein the object data and the lane data are reconstructed in response to a vehicle telemetry data and an object reconstruction model.
5 . The system for performing the vehicle maneuver of claim 1 wherein the object data and the lane data are reconstructed un response to an uncertainty characterization in response to a historical linear object behavior uncertainty.
6 . The system for performing the vehicle maneuver of claim 1 wherein the frozen scene construction is predicted based on measurement model probabilities and covariances and a covariance adaption.
7 . The system for performing the vehicle maneuver of claim 1 wherein the estimate of the line and object quality and the determination of the uncertainty are performed in response to a prediction of an upcoming evasive maneuver.
8 . The system for performing the vehicle maneuver of claim 1 wherein the set includes a LiDAR.
9 . The system for performing the vehicle maneuver of claim 1 wherein the set includes a radar, a LiDAR and a camera.
10 . A method for providing a vehicle maneuver comprising:
generating a data signal by a sensor set indicative of an object location and a lane line location;
storing, on a memory, an environment map indicative of a driving environment coordinated with a host vehicle location;
determining, by a processor, a lane line quality and an object quality;
detecting, by the processor, a loss of sensor data in response to the data signal;
determining an uncertainty in response to historical motion of the objects;
generating, by the processor, a frozen scene construction in response to the lane line quality, the object quality and the uncertainty;
localizing, by the processor, a host vehicle location with respect to the frozen scene construction;
regenerating, by the processor, an object data and a lane data in response to the frozen scene and the localized host vehicle location;
generating, by the processor, a vehicle motion path in response to the object data and lane data; and
controlling, by a vehicle controller, the host vehicle in response to the vehicle motion path.
11 . The method for providing the vehicle maneuver of claim 10 wherein the sensor set includes a vehicle mounted camera and wherein the object location is determined in response to an image recognition algorithm performed by an image processor.
12 . The method for providing the vehicle maneuver of claim 10 further including generating a user alert indicative of a lane hazard in response to the vehicle speed reduction control signal.
13 . The method for providing the vehicle maneuver of claim 10 wherein the object data and the lane data are reconstructed in response to a vehicle telemetry data and an object reconstruction model.
14 . The method for providing the vehicle maneuver of claim 10 wherein the host lane speed reduction is determined in response to a user preference associated with the first hazard.
15 . The method for providing the vehicle maneuver of claim 10 wherein the object data and the lane data are reconstructed un response to an uncertainty characterization in response to a historical linear object behavior uncertainty.
16 . The method for providing the vehicle maneuver of claim 10 wherein the frozen scene construction is predicted based on measurement model probabilities and covariances and a covariance adaption.
17 . The method for providing the vehicle maneuver of claim 10 wherein the vehicle maneuver algorithm is initiated in response to an acceleration detected by an inertial measurement unit exceeding a threshold value.
18 . The method for providing the vehicle maneuver of claim 10 wherein the set includes at least one of a radar, a LiDAR and a camera.
19 . A vehicle control system for performing an evasive steering maneuver comprising:
a camera to capturing an image of a field of view including an object within the field of view;
a distance sensor to detect a distance to the object;
an inertial measurement unit (IMU) to detect an acceleration of a host vehicle;
a memory having instructions stored thereon;
a processor coupled to the camera, the distance sensor, the IMU, and the memory, the processor to execute the instructions to:
detect a loss of sensor data signal from at least one of the camera and the distance sensor;
determine a lane line quality and an object quality in response to the acceleration of the host vehicle exceeding a threshold acceleration;
generate a frozen scene construction in response to the lane line quality, the object quality, and an uncertainty based on historical motion of the object;
localize a host vehicle location with respect to the frozen scene construction;
regenerate an object data and a lane data in response to the frozen scene and the localized host vehicle location; and
generate a vehicle motion path for an evasive steering maneuver in response to the regenerated object data and lane data; and
a vehicle controller to control the host vehicle along the vehicle motion path in response in response to the vehicle motion path.
20 . The vehicle control system for performing the evasive steering maneuver algorithm of claim 19 , wherein the object is a proximate vehicle.