Actively modifying a field of view of an autonomous vehicle in view of constraints
Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.
1. A method comprising:
causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;
determining a desired field of view in which the portion of the environment is not obscured;
based on the desired field of view, determining a second field of view in which the portion of the environment is less obscured than in the first field of view and more obscured than in the desired field of view; and
modifying the sensor's field of view, from the first field of view to the second field of view, wherein the second field of view is an improved field of view of the sensor.
2. The method of claim 1 , wherein the second field of view in which the portion of the environment is less obscured than in the first field of view is determined based on a set of constraints for the autonomous vehicle.
3. The method of claim 2 , wherein the set of constraints comprises a range of permitted speeds, a maximum deceleration, a proximity to a crosswalk, or a proximity to another vehicle.
4. The method of claim 1 , wherein the sensor's field of view is modified in response to determining the second field of view.
5. The method of claim 1 , wherein modifying the sensor's field of view comprises modifying a position of the autonomous vehicle.
6. The method of claim 1 , wherein modifying the sensor's field of view comprises causing the sensor to sense information in the second field of view.
7. The method of claim 1 , wherein determining the second field of view comprises:
detecting an obstacle in the first field of view; and
in response to detecting the obstacle, determining the second field of view.
8. The method of claim 1 , wherein determining the second field of view comprises:
estimating a location of the autonomous vehicle;
detecting that the location of the autonomous vehicle is near a predetermined location; and
in response to detecting that the location of the autonomous vehicle is near the predetermined location, determining the second field of view.
9. The method of claim 1 , wherein modifying the sensor's field of view further comprises modifying a position of the sensor, wherein modifying the position of the sensor comprises using one or more actuators to adjust the position of the sensor by moving the sensor or a movable mount, and wherein the one or more actuators comprise a motor, a pneumatic actuator, a hydraulic piston, a relay, a solenoid, or a piezoelectric actuator.
10. The method of claim 1 , wherein the second field of view is determined relative to the first field of view.
11. The method of claim 1 , further comprising:
determining a requested field of view for an external sensor, wherein the external sensor is physically separate from the autonomous vehicle;
sending to the external sensor a request for the requested field of view; and
receiving, from the external sensor, information sensed by the external sensor in the requested field of view.
12. The method of claim 1 , wherein the sensor comprises a radio detection and ranging (RADAR) unit.
13. An autonomous vehicle comprising:
a sensor;
at least one processor; and
data storage comprising:
instructions executable by the at least one processor to:
cause the sensor to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;
determine a desired field of view in which the portion of the environment is not obscured;
based on the desired field of view, determine a second field of view in which the portion of the environment is less obscured than in the first field of view and more obscured than in the desired field of view; and
modify the sensor's field of view, from the first field of view to the second field of view, wherein the second field of view is an improved field of view of the sensor.
14. The autonomous vehicle of claim 13 , wherein the second field of view in which the portion of the environment is less obscured than in the first field of view is determined based on a set of constraints for the autonomous vehicle.
15. The autonomous vehicle of claim 14 , wherein the set of constraints comprises a range of permitted speeds, a maximum deceleration, a proximity to a crosswalk, or a proximity to another vehicle.
16. The autonomous vehicle of claim 13 , wherein the sensor's field of view is modified in response to determining the second field of view.
17. The autonomous vehicle of claim 13 , wherein modifying the sensor's field of view comprises modifying a position of the autonomous vehicle.
18. The autonomous vehicle of claim 13 , wherein modifying the sensor's field of view comprises causing the sensor to sense information in the second field of view.
19. The autonomous vehicle of claim 13 , wherein the second field of view is determined relative to the first field of view.
20. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform the functions of:
causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view;
determining a desired field of view in which the portion of the environment is not obscured;
based on the desired field of view, determining a second field of view in which the portion of the environment is less obscured than in the first field of view and more obscured than in the desired field of view; and
modifying the sensor's field of view, from the first field of view to the second field of view, wherein the second field of view is an improved field of view of the sensor.