System and method for autonomous control of a vehicle
An automotive vehicle includes at least one actuator configured to control vehicle steering, acceleration, or shifting, at least one sensor configured to emit a signal having a first encoding scheme and receive a return signal, and at least one controller in communication with the actuator and the sensor. The controller is configured to control the actuator according to a first mode and a second mode. The controller is further configured to, in response to the sensor receiving a return signal having the first encoding scheme, control the actuator according to the first mode and, in response to the sensor receiving a return signal not having the first encoding scheme, control the actuator according to the second mode.
1. An automotive vehicle comprising:
at least one actuator configured to control vehicle steering, acceleration, or shifting;
at least one sensor configured to emit a signal having a first encoding scheme and receive a return signal;
at least one controller in communication with the actuator and the sensor, the controller being configured to control the actuator according to a first mode and a second mode, the controller being further configured to, in response to the sensor receiving a return signal having the first encoding scheme, control the actuator according to the first mode and, in response to the sensor receiving a return signal not having the first encoding scheme, control the actuator according to the second mode.
2. The automotive vehicle of claim 1 , wherein the controller is further configured to infer a location of a target object external to the vehicle in response to the return signal not having the first encoding scheme, wherein the second mode comprises defining a vehicle path based on the inferred presence of the target object at the location, and wherein the first mode comprises defining a vehicle path in the absence of a target object at the location.
3. The automotive vehicle of claim 2 , wherein the controller is configured to infer the location of the target object based on a return angle of the return signal and on an intensity of the return signal.
4. The automotive vehicle of claim 3 , wherein the controller is further configured to, in response to the inferred location being behind an identified object within a field of view of the at least one sensor, identify the target object as a multipath reflection and disregard the target object.
5. The automotive vehicle of claim 1 , wherein the controller is further configured to, in response to the return signal having a second encoding scheme, distinct from the first encoding scheme, access a behavior model for predicting behavior of a target object external to the vehicle, the behavior model corresponding to the second encoding scheme.
6. The automotive vehicle of claim 5 , wherein the controller is further configured to infer a location of the target object, wherein the second mode comprises defining a vehicle path based on the inferred presence of the target object at the location and on the behavior model, and wherein the first mode comprises defining a vehicle path in the absence of a target object at the location.
7. The automotive vehicle of claim 1 , wherein the at least one sensor comprises a LiDAR emitter and a LiDAR receiver.
8. A method of controlling a vehicle, comprising:
providing the vehicle with at least one actuator configured to control vehicle steering, acceleration, or shifting, at least one sensor configured to emit a signal having a first encoding scheme and receive return signals, and at least one controller in communication with the actuator and the sensor;
receiving, via the at least one sensor, a return signal;
determining, via the at least one controller, whether the return signal is encoded according to the first encoding scheme; and
controlling, via the at least one controller, the at least one actuator according to a first mode in response to the return signal being encoded according to the first encoding scheme and according to a second mode in response to the return signal not being encoded according to the first encoding scheme.
9. The method of claim 8 , further comprising, in response to the return signal not being encoded according to the first encoding scheme, inferring a location of a target object external to the vehicle.
10. The method of claim 9 , wherein the second mode comprises defining a vehicle path based on the inferred presence of the target object at the location, and wherein the first mode comprises defining a vehicle path in the absence of a target object at the location.
11. The method of claim 9 , wherein the inferring the location of the target object is based on a return angle of the return signal and on an intensity of the return signal.
12. The method of claim 8 , further comprising:
determining, via the at least one controller, whether the return signal is encoded according to a second encoding scheme, distinct from the first encoding scheme; and
in response to the return signal being encoded according to the second encoding scheme, accessing, via the at least one controller, a behavior model for predicting behavior of a target object external to the vehicle, the behavior model corresponding to the second encoding scheme.
13. The method of claim 12 , further comprising, in response to the return signal not being encoded according to the first encoding scheme, inferring a location of a target object external to the vehicle, wherein the second mode comprises defining a vehicle path based on the inferred presence of the target object at the location and on the behavior model, and wherein the first mode comprises defining a vehicle path in the absence of a target object at the location.
14. The method of claim 8 , wherein the at least one sensor comprises a LiDAR emitter and a LiDAR receiver.