Systems and techniques for field-of-view improvements in autonomous trucking systems
Aspects and implementations of the present disclosure relate to performance and safety improvements for autonomous trucking systems, such as mitigation of blind spots in the field of view of a sensing system of an autonomous vehicle, using shielding by other vehicles in adverse weather conditions, and deploying a cooperative expansion of the sensing field of view using external sensing systems.
1 . A method to operate a traveling autonomous vehicle (AV), the method comprising:
shifting, using an AV control system, the AV in a first direction that is lateral to a direction of motion of the AV and exposing a first portion of an occluded, by a body of the AV, region of an environment of the AV to a first sensor of a sensing system of the AV;
receiving, by a data processing system of the AV, sensing data from the sensing system, wherein the sensing data comprises a first part obtained using the first sensor and imaging the first portion of the occluded region;
establishing, by the data processing system of the AV and using the received sensing data, an existence of a driving condition, wherein the driving condition comprises one of:
a presence of a vehicle within the occluded region of the environment of the AV, or
an absence of a vehicle within the occluded region of the environment of the AV; and
causing, by the data processing system of the AV, a driving path of the AV to be determined in view of the established driving condition.
2 . The method of claim 1 , further comprising:
shifting, using the AV control system, the AV in a second direction that is opposite to the first direction and exposing a second portion of the occluded region of the environment of the AV to a second sensor of the sensing system of the AV,
wherein the sensing data further comprises a second part obtained using the second sensor and imaging the second portion of the occluded region.
3 . The method of claim 2 , wherein each of the first sensor and the second sensor comprises one or more of a camera sensor, a lidar sensor, or a radar sensor.
4 . The method of claim 2 , wherein shifting the AV in the first direction and in the second direction is performed periodically with a predetermined period.
5 . The method of claim 1 , wherein shifting the AV in the first direction is responsive to the AV traveling on a curved roadway, wherein the first direction is in a radial outward direction of the curved roadway.
6 . The method of claim 1 , wherein shifting the AV in the first direction is contingent on an absence of a vehicle, within a predetermined distance, in a lane that is adjacent to a lane of travel of the AV.
7 . The method of claim 1 , wherein shifting the AV in the first direction is contingent on mapping data being consistent with forward-sensing data obtained by one or more forward-sensing sensors of the sensing system of the AV.
8 . The method of claim 1 , wherein the AV is shifted in the first direction over a predetermined portion of a lane of travel of the AV.
9 . The method of claim 1 , wherein the AV is shifted in the first direction until a portion of the AV is in a lane adjacent to a lane of travel of the AV, wherein the lane adjacent to the lane of travel of the AV and the lane of travel of the AV have a same direction of travel.
10 . An autonomous vehicle (AV), comprising:
an AV sensing system;
an AV control system to shift the AV in a first direction that is lateral to a direction of motion of the AV and expose a first portion of an occluded, by a body of the AV, region of an environment of the AV to a first sensor of the AV sensing system; and
an AV data processing system to:
receive sensing data from the AV sensing system, wherein the sensing data comprises a first part obtained using the first sensor and imaging the first portion of the occluded region;
determine, using the received sensing data, an existence of a driving condition, wherein the driving condition comprises one of:
a presence of a vehicle within the occluded region of the environment of the AV, or
an absence of a vehicle within the occluded region of the environment of the AV; and
cause the AV data processing system to determine a driving path of the AV in view of the determined driving condition.
11 . The autonomous vehicle of claim 10 , wherein the AV control system is further to shift the AV in a second direction that is opposite to the first direction and expose a second portion of the occluded region of the environment of the AV to a second sensor of the AV sensing system, and wherein the sensing data further comprises a second part obtained using the second sensor and imaging the second portion of the occluded region.
12 . The autonomous vehicle of claim 11 , wherein each of the first sensor and the second sensor comprises one or more of a camera sensor, a lidar sensor, or a radar sensor.
13 . The autonomous vehicle of claim 11 , wherein shifting the AV in the first direction and in the second direction is performed periodically with a predetermined period.
14 . The autonomous vehicle of claim 10 , wherein shifting the AV in the first direction is responsive to the AV traveling on a curved roadway, wherein the first direction is in a radial outward direction of the curved roadway.
15 . The autonomous vehicle of claim 10 , wherein the AV control system is to shift the AV in the first direction responsive to an absence of a vehicle, within a predetermined distance, in a lane that is adjacent to a lane of travel of the AV.
16 . The autonomous vehicle of claim 10 , wherein the AV control system is to shift the AV in the first direction responsive to mapping data being consistent with forward-sensing data obtained by one or more forward-sensing sensors of the AV sensing system.
17 . The autonomous vehicle of claim 10 , wherein the AV control system is to shift the AV in the first direction over a predetermined portion of a lane of travel of the AV.
18 . The autonomous vehicle of claim 10 , wherein the AV control system is to shift the AV in the first direction until a portion of the AV is in a lane adjacent to a lane of travel of the AV, wherein the lane adjacent to the lane of travel of the AV and the lane of travel of the AV have a same direction of travel.
19 . A system comprising:
a memory device; and
a processing device communicatively coupled to the memory device, the processing device configured to:
cause a control system of an autonomous vehicle (AV) to shift the AV in a direction that is lateral to a direction of motion of the AV and expose a portion of an occluded, by a body of the AV, region of an environment of the AV to a sensor of a sensing system of the AV;
receive, from a data processing system of the AV, sensing data, wherein the sensing data comprises data imaging the portion of the occluded region;
determine, by the data processing system of the AV and using the received sensing data, an existence of a driving condition, wherein the driving condition comprises one of:
a presence of a vehicle within the occluded region of the environment of the AV, or
an absence of a vehicle within the occluded region of the environment of the AV; and
cause, by the data processing system of the AV, a driving path of the AV to be determined in view of the determined driving condition.
20 . The system of claim 19 , wherein the processing device is to cause the control system of the AV to shift the AV in the lateral direction responsive to at least one of:
passage of a predetermined time, or
the AV traveling on a curved roadway, wherein the lateral direction is in a radial outward direction of the curved roadway.