Autonomous vehicle telescopic sensor system
A telescopic sensor system for an autonomous vehicle enables sensors located on movable telescopic apparatuses to obtain sensor data when an object obstructs an area scanned by fixed sensors. An example method of controlling a movable telescopic apparatus on an autonomous vehicle includes obtaining, from a first sensor located on the autonomous vehicle, a first sensor data of a first area relative to a location of the autonomous vehicle, performing, from the first sensor data, a first determination that a view of the first area is obstructed, causing, in response to the first determination, a second sensor coupled to the movable telescopic apparatus to extend to a pre-determined position, and obtaining, from the second sensor, a second sensor data of a second area relative to the location of the autonomous vehicle, where the second area includes at least some of the first area.
1 . A method of controlling a movable apparatus on a vehicle, comprising:
determining, by a computer located in the vehicle, that a first sensor data of a first area located relative to a location of the vehicle is obstructed;
causing, in response to the determining, the movable apparatus to move a sensor coupled to the movable apparatus relative to the vehicle to capture a second sensor data of a second area located relative to the location of the vehicle; and
obtaining, from the sensor, the second sensor data of the second area located relative to the location of the vehicle, wherein the second area includes at least some of the first area.
2 . The method of claim 1 , wherein the movable apparatus is caused to move the sensor by controlling a distance travelled by the movable apparatus.
3 . The method of claim 2 ,
wherein the distance travelled by the movable apparatus is controlled by causing the movable apparatus to move to a pre-determined distance from a neutral position or a retracted position of the movable apparatus, and
wherein the pre-determined distance is from a plurality of pre-determined distances from the neutral position or the retracted position of the movable apparatus.
4 . The method of claim 2 ,
wherein the distance travelled by the movable apparatus is controlled by causing the movable apparatus to incrementally move from a first pre-determined distance from a neutral position or a retracted position of the movable apparatus to a second pre-determined distance from the neutral position or the retracted position of the movable apparatus,
wherein the first pre-determined distance is less than the second pre-determined distance.
5 . The method of claim 4 ,
wherein the second sensor data of the second area is obtained by the sensor when the movable apparatus is at the first pre-determined distance, and
wherein the movable apparatus is caused to move from the first pre-determined distance to the second pre-determined distance upon determining that the second sensor data is obstructed.
6 . The method of claim 4 ,
wherein the first sensor data is determined to be obstructed upon determining that the first sensor data includes an object that obstructs a least a portion of the first area, and
wherein the method further comprises:
determining, by comparing a third sensor data with the first sensor data, that the third sensor data obtained by the sensor located at the second pre-determined distance does not include the object.
7 . The method of claim 4 ,
wherein the first sensor data is determined to be obstructed upon determining that the first sensor data includes an object that obstructs a least a portion of the first area, and
wherein the method further comprises:
determining, by comparing a third sensor data with the first sensor data, that the third sensor data obtained by the sensor located at the second pre-determined distance includes a portion of the object having a second size is less than or equal to a pre-determined fraction of a first size of the object included in the first sensor data.
8 . A system, comprising:
a computer located in a vehicle, the computer comprising at least one processor and a memory comprising stored instructions that upon execution configure the at least one processor to:
determine that a first sensor data of a first area located relative to a location of the vehicle is obstructed;
cause, in response to the determining, a movable apparatus to move a sensor coupled to the movable apparatus relative to the vehicle to capture a second sensor data of a second area located relative to the location of the vehicle; and
obtain, from the sensor, the second sensor data of the second area located relative to the location of the vehicle, wherein the second area includes at least some of the first area.
9 . The system of claim 8 , wherein the movable apparatus is caused to move the sensor while the vehicle is stopped.
10 . The system of claim 8 , wherein the at least one processor is further configured to:
prevent the movable apparatus to move the sensor upon a determination that a speed of the vehicle is greater than a pre-determined value.
11 . The system of claim 8 , wherein the sensor is located adjacent to another sensor located on the vehicle, wherein the another sensor obtains the first sensor data of the first area.
12 . The system of claim 8 , wherein the movable apparatus is located on a roof of the vehicle, on a bumper of the vehicle, or on a side of the vehicle.
13 . The system of claim 8 , wherein the sensor includes a camera or a Light Detection and Ranging (LiDAR) sensor.
14 . A non-transitory computer readable storage medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method comprising:
determining, by a computer located in a vehicle, that a first sensor data of a first area located relative to a location of the vehicle is obstructed;
causing, in response to the determining, a movable apparatus to move a sensor coupled to the movable apparatus relative to the vehicle to capture a second sensor data of a second area located relative to the location of the vehicle; and
obtaining, from the sensor, the second sensor data of the second area located relative to the location of the vehicle, wherein the second area includes at least some of the first area.
15 . The non-transitory computer readable storage medium of claim 14 , wherein the movable apparatus is caused to move the sensor while the vehicle is in motion.
16 . The non-transitory computer readable storage medium of claim 14 , wherein the causing the movable apparatus to move the sensor is performed in response to:
determining that the location of the vehicle is within a pre-determined distance of another location of an object that is previously known to obstruct; and
selecting the movable apparatus from a database that identifies the movable apparatus as being associated with obtaining sensor data around or past the object.
17 . The non-transitory computer readable storage medium of claim 14 , wherein the movable apparatus is caused to move the sensor by sending instructions to actuate a motor associated with the movable apparatus.
18 . The non-transitory computer readable storage medium of claim 14 , wherein prior to the causing the movable apparatus to move the sensor, the movable apparatus is selected from a plurality of movable apparatus upon determining that a direction in which the movable apparatus moves is same as a desired direction of movement and upon determining that the sensor is orientated towards a desired area.
19 . The non-transitory computer readable storage medium of claim 18 , wherein the computer stores a table that lists the plurality of movable apparatus and, for each movable apparatus, a corresponding direction of movement.
20 . The non-transitory computer readable storage medium of claim 14 , wherein the causing the movable apparatus to move the sensor comprises causing the movable apparatus to extend or retract.