Patent ID: 11971719
Assignee: FIREFLY AUTOMATIX, INC.
Field: Measurement (Instruments)
Classification: CPC G  A | IPC A  G

Claim 20:
21. A vehicle comprising:
a main body;
a first sensor and a second sensor that each provide sensor data for a detection area that is in a path of the main body such that the detection area changes as the vehicle travels;
an autonomy controller that receives the sensor data for the detection area that is in the path of the main body from the first and second sensors; and
a machine controller that controls a ground speed of the vehicle;
wherein the autonomy controller is configured to perform a method for detecting an object within the detection area that is in the path of the main body, the method comprising:
receiving, from one or both of the first and second sensor, sensor data for the detection area that is in the path of the main body at a first particular time, wherein the sensor data for the detection area that is in the path of the main body at the first particular time corresponds to a field of view of one or both of the first and second sensor at the first particular time;
processing the sensor data for the detection area that is in the path of the main body at the first particular time to determine that an object may be present in a region of interest within the detection area that is in the path of the main body, wherein the region of interest corresponds to a portion of the field of view of one or both of the first and second sensor at the first particular time;
in response to determining that an object may be present in the region of interest, causing the machine controller to slow the ground speed of the vehicle;
while the ground speed of the vehicle is slowed and while the region of interest remains in the detection area that is in the path of the main body at the first particular time, buffering multiple samples of region of interest sensor data received over a period of time after the first particular time from the second sensor, the region of interest sensor data being a subset of the sensor data for the detection area that is in the path of the main body during the period of time, the subset of the sensor data encompassing the region of interest such that the multiple samples of region of interest sensor data comprise increasingly closer views of the region of interest as the vehicle approaches the region of interest; and
while the region of interest remains in the detection area that is in the path of the main body during the period of time, simultaneously processing the buffered multiple samples of region of interest sensor data which provide the increasingly closer views of the region of interest to determine whether an object is present in the region of interest.