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 |
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.
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