Patent ID: 11912310
Assignee: TUSIMPLE, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 13:
14. A camera vision method for an autonomous driving vehicle, the method comprising:
determining, from a series of images of one or more roads captured by a camera sensor of the autonomous driving vehicle, a plurality of three-dimensional boundaries for the one or more roads,
wherein a larger quantity of the series of road images is used to determine directions of travel and speeds of distant objects compared to the series of road images that are used to determine directions of travel and speeds of objects that are close to the autonomous driving vehicle;

selecting a series of points in a three-dimensional space surrounding the autonomous driving vehicle within the plurality of three-dimensional boundaries for the one or more roads;
determining, for each point in the series of points, whether an object is present at the point;
determining a stationarity or a direction of travel and a speed for each object that is present at a point in the series of points;
determining, based on the direction of travel, the speed, or the stationarity of each object that is present at a point in the series of points, whether the autonomous driving vehicle can safely move in a predetermined direction,
wherein a quantity of the series of road images that are analyzed before the determining whether the autonomous driving vehicle can safely move in the predetermined direction depends on a noise level in the directions of travel, speeds, or stationarity of the objects; and

sending one or more control signals to the autonomous driving vehicle to cause the autonomous driving vehicle to move or to remain stationary based on the determining whether the autonomous driving vehicle can safely move in the predetermined direction.