US 12,168,456 B2
Vehicle placement on aerial views for vehicle control
Mianwei Zhou, Cupertino, CA (US)
Assigned to PlusAI, Inc., Santa Clara, CA (US)
Filed by PlusAI, Inc., Santa Clara, CA (US)
Filed on Mar. 2, 2023, as Appl. No. 18/116,821.
Application 18/116,821 is a continuation of application No. 17/877,735, filed on Jul. 29, 2022, granted, now 11,628,859.
Prior Publication US 2024/0034354 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 10/18 (2012.01); B60W 30/09 (2012.01); B60W 40/04 (2006.01); B60W 40/06 (2012.01); B60W 50/14 (2020.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01)
CPC B60W 60/0011 (2020.02) [B60W 10/18 (2013.01); B60W 30/09 (2013.01); B60W 40/04 (2013.01); B60W 40/06 (2013.01); B60W 50/14 (2013.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for at least partially autonomously driving a vehicle that includes one or more processors and memory, the method comprising:
obtaining a forward-facing view of a road captured by a front-facing camera of the vehicle, the forward-facing view of the road including one or more obstacle vehicles;
processing the forward-facing view to determine a first location and size of each respective obstacle vehicle, including:
determining a longitudinal distance from a starting point of a respective lane in which the respective obstacle vehicle is located to the obstacle vehicle along the respective lane; and
determining a lateral distance from a lane line of the respective lane to the obstacle vehicle along a direction substantially perpendicular to the respective lane;
obtaining an aerial view of the road;
in accordance with a determination of both the first location and the size of each obstacle vehicle based on the forward-facing view captured by the front-facing camera, positioning the one or more obstacle vehicles on the aerial view of the road; and
using the aerial view of the road to at least partially autonomously drive the vehicle.