Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle

1. A method comprising:

receiving, from a phase coherent Light Detection and Ranging (LIDAR) component of a vehicle, a group of LIDAR data points of a sensing cycle of the phase coherent LIDAR component,

each of the LIDAR data points of the group indicating a corresponding instantaneous range and a corresponding instantaneous velocity for a corresponding point in an environment of the vehicle, and each of the LIDAR data points of the group being generated based on a corresponding sensing event of the phase coherent LIDAR component during the sensing cycle;

determining that a subgroup, of the LIDAR data points of the group, corresponds to a dynamic object in the environment;

based on determining that the subgroup corresponds to the dynamic object:

determining an instantaneous yaw parameter of the dynamic object based on a plurality of the corresponding instantaneous velocities of the LIDAR data points of the subgroup; and

adapting autonomous control of the vehicle based on the determined instantaneous yaw parameter of the dynamic object.

2. The method of claim 1 ,

wherein determining the instantaneous yaw parameter of the dynamic object based on the plurality of the corresponding instantaneous velocities of the LIDAR data points of the subgroup comprises:

determining the instantaneous yaw parameter based on the plurality of the corresponding instantaneous velocities of the LIDAR data points of the subgroup and based on a stored model for the dynamic object, the stored model describing geometric features of the dynamic object.

3. The method of claim 2 , wherein the stored model is a three-dimensional model of the dynamic object.

4. The method of claim 2 , further comprising:

selecting the stored model, from multiple candidate stored models, based on determining that sensor data, from the vehicle, corresponds most closely to the stored model.

5. The method of claim 4 , wherein the sensor data comprises the group of LIDAR data points.

6. The method of claim 2 , wherein determining the instantaneous yaw parameter based on the plurality of the corresponding instantaneous velocities of the LIDAR data points of the subgroup and based on the stored model for the dynamic object comprises:

determining a velocity differential based on comparison of a first set velocity magnitude and a second set velocity magnitude, wherein the first set velocity magnitude is based on a first set of the corresponding instantaneous velocities of the LIDAR data points of the subgroup, and wherein the second set velocity magnitude is based on a second set of the corresponding instantaneous velocities of the LIDAR data points of the subgroup; and

converting the velocity differential to the instantaneous yaw parameter based on the stored model for the dynamic object.

7. The method of claim 2 , wherein determining the instantaneous yaw parameter based on the plurality of the corresponding instantaneous velocities of the LIDAR data points of the subgroup and based on the stored model for the dynamic object comprises:

simulating, using a simulator, movement of the stored model with application, to the stored model, of the corresponding instantaneous velocities of the LIDAR data points of the subgroup.

8. The method of claim 1 , wherein determining the instantaneous yaw parameter of the dynamic object based on the corresponding instantaneous velocities of the plurality of the LIDAR data points of the subgroup comprises:

determining a first set of one or more of the plurality of LIDAR data points of the subgroup;

determining a second set of one or more of the plurality of LIDAR data points of the subgroup based on the second set being spatially offset from the first set; and

determining the instantaneous yaw parameter based on comparison of one or more of the corresponding instantaneous velocities of the first set to one or more of the corresponding instantaneous velocities of the second set.

9. The method of claim 1 , wherein the instantaneous yaw parameter of the dynamic object is a lower bound yaw rate of the dynamic object, and further comprising determining an additional instantaneous yaw parameter of the dynamic object, that is an upper bound yaw rate, based on comparison of the first set to the second set.

10. The method of claim 1 , wherein the instantaneous yaw parameter includes a yaw rate and a yaw direction, and wherein determining the instantaneous yaw parameter of the dynamic object based on the corresponding instantaneous velocities of the plurality of the LIDAR data points of the subgroup comprises:

processing the corresponding instantaneous velocities of the plurality of the LIDAR data points of the subgroup using a trained neural network model;

generating, based on processing of the LIDAR data points of the group using the trained neural network model, an output that indicates the yaw rate and the yaw direction; and

determining the yaw rate and the yaw direction based on the output.

11. The method of claim 1 , wherein the instantaneous yaw parameter of the dynamic object is a velocity differential that is indicative of yaw rate, and wherein adapting autonomous control of the vehicle based on the determined instantaneous yaw parameter of the dynamic object comprises adapting a velocity of the vehicle and/or a direction of the vehicle based on the velocity differential exceeding a threshold.

12. The method of claim 1 , wherein adapting autonomous control of the vehicle based on the determined instantaneous yaw parameter of the dynamic object comprises:

determining at least one candidate trajectory of the dynamic object based on the determined instantaneous yaw parameter; and

adapting autonomous control of the vehicle based on the at least one candidate trajectory.

13. The method of claim 12 , wherein the dynamic object is an additional vehicle and wherein adapting autonomous control of the vehicle based on the at least one candidate trajectory comprises performing autonomous evasive steering.

14. The method of claim 1 , wherein the LIDAR component is a LIDAR monopulse component and wherein the corresponding sensing events of the LIDAR component each comprise a first receiver sensing event at a first coherent receiver of the LIDAR monopulse component and a second receiver sensing event at a second coherent receiver of the LIDAR monopulse component, the first coherent receiver being positionally offset from the second coherent receiver.

15. The method of claim 14 , wherein the LIDAR data points of the group are super-resolution LIDAR data points generated based on combining the first receiver sensing events and the second receiver sensing events.

16. A method comprising:

receiving, from a phase coherent Light Detection and Ranging (LIDAR) monopulse component of a vehicle, LIDAR data capturing an environment of the vehicle,

the LIDAR data indicating, for each of a plurality of points in the environment of the vehicle, at least one corresponding instantaneous range and at least one corresponding instantaneous velocity based on a corresponding sensing event of the LIDAR monopulse component, the corresponding sensing events of the LIDAR component each comprising a first receiver sensing event at a first coherent receiver of the LIDAR monopulse component and a second receiver sensing event at a second coherent receiver of the LIDAR monopulse component, the first coherent receiver being positionally offset from the second coherent receiver;

determining that a subgroup of the LIDAR data corresponds to a dynamic object in the environment;

determining an instantaneous yaw rate of the dynamic object, the determining based on multiple corresponding instantaneous velocities indicated by the LIDAR data of the subgroup; and

providing the instantaneous yaw rate to one or both of: a planning subsystem of the vehicle and a control subsystem of the vehicle.

17. The method of claim 16 , wherein the LIDAR data is super-resolution LIDAR data generated based on combining the first receiver sensing events and the second receiver sensing events.

18. The method of claim 17 , wherein combining the first receiver sensing events and the second receiver sensing events comprises combining using one or both of: a frequency domain technique and a spatial domain technique.

19. The method of claim 16 , wherein the dynamic object is an additional vehicle and wherein providing the instantaneous yaw rate to one or both of: the planning subsystem and the control subsystem comprises providing the instantaneous yaw rate to the planning subsystem.

20. An autonomous vehicle, comprising:

a phase coherent Light Detection and Ranging (LIDAR) component;

one or more processors executing stored computer instructions to:

receive, from the phase coherent LIDAR component, LIDAR data capturing an environment of the vehicle,

the LIDAR data indicating, for each of a plurality of points in the environment of the vehicle, at least one corresponding instantaneous range and at least one corresponding instantaneous velocity based on a corresponding sensing event of the phase coherent LIDAR component;

determine, based on multiple of the corresponding instantaneous velocities indicated by the LIDAR data, an instantaneous yaw parameter of a dynamic object in the environment of the vehicle; and

adapt autonomous control of the vehicle based on the determined instantaneous yaw parameter of the dynamic object.