CN-121989935-A - Revealing object detection

Abstract

A system for monitoring a vehicle environment includes a perception system in communication with a vehicle sensor, the perception system configured to receive perception data from the vehicle sensor. The system also includes a scene detection module configured to detect a first object based on the perception data and analyze behavior of the first object to predict whether a reveal scene is occurring or is about to occur, wherein the occluded object is revealed in the reveal scene. The system also includes a control module configured to perform at least one of controlling the vehicle to respond to the occluded object and presenting information about the occluded object to a user based on detecting the occluded object as an revealed object.

Inventors

• A. Abulfirat
• M. Shariari
• A.S. Greval
• D. Feldman

Assignees

• 通用汽车环球科技运作有限责任公司

Dates

Publication Date

20260508

Application Date

20241213

Priority Date

20241108

Claims (10)

1. 1. A system for monitoring a vehicle environment, comprising: A perception system in communication with a vehicle sensor, the perception system configured to receive perception data from the vehicle sensor; a scene detection module configured to detect a first object based on the perception data and analyze behavior of the first object to predict whether a reveal scene is occurring or is about to occur, wherein occluded objects are revealed in the reveal scene, and A control module configured to perform at least one of controlling the vehicle to respond to the occluded object and presenting information about the occluded object to a user based on detecting the occluded object as an revealed object.
2. 2. The system of claim 1, wherein the perception system is configured to operate in a normal detection mode in which object detection is performed based on a set of normal criteria and a modified detection mode in which object detection is performed based on a set of modified criteria, and the scene detection module is configured to cause the perception system to transition from the normal detection mode to the modified detection mode based on a prediction revealing that a scene is occurring or is about to occur.
3. 3. The system of claim 2, wherein the normal detection mode specifies that the perception system performs the object detection based on a first number of detection modalities, and the modified detection mode specifies that the perception system performs the object detection based on a reduced number of detection modalities, the reduced number being less than the first number.
4. 4. The system of claim 2, wherein the normal detection mode is associated with a first delay and the modified detection mode is associated with a second delay, the second delay being less than the first delay.
5. 5. The system of claim 1, wherein the scene detection module is configured to predict that the reveal scene is occurring or is about to occur based on a manipulation performed by the first object.
6. 6. The system of claim 5, wherein the first object is a front vehicle traveling in front of the vehicle, the occluding object is a third vehicle in front of the front vehicle, and the maneuver is an aggressive maneuver performed by the first object.
7. 7. The system of claim 1, wherein the scene detection module is configured to predict that the reveal scene is occurring or is about to occur based on classifying the behavior according to a machine learning model.
8. 8. The system of claim 7, wherein the first object is a front vehicle traveling in front of the vehicle and the machine learning model is configured to determine whether the behavior is classified as an aggressive maneuver.
9. 9. The system of claim 8, wherein the perception system is configured to perform object detection according to a normal detection mode and a modified detection mode, the normal detection mode being associated with a first delay, the modified detection mode being associated with a second delay that is less than the first delay, and the scene detection module is configured to cause the perception system to operate in the modified detection mode based on determining that the behavior is classified as the aggressive maneuver.
10. 10. A method of monitoring a vehicle environment, comprising: receiving sensory data from vehicle sensors of a sensory system of the vehicle; Detecting a first object in an environment surrounding the vehicle based on the perception data; Analyzing the behavior of the first object to predict whether a reveal scene is occurring or is about to occur, wherein occluded objects are revealed in the reveal scene, and Based on predicting that the reveal scene is occurring or about to occur, and based on detecting the occluded object as an revealed object, performing control of the vehicle in response to at least one of the occluded object and presenting information about the occluded object to a user.

Description

Revealing object detection Technical Field The subject disclosure relates to the field of vehicle perception. More particularly, the subject disclosure relates to systems and methods for monitoring a vehicle environment and/or controlling a vehicle perception system based on detection of an emerging object. Background Vehicles are increasingly equipped with sensors and sensing devices that increase awareness of the vehicle control system and the driver, and thus may provide autonomous control and/or driver support. For example, the vehicle may feature autonomous and/or semi-autonomous driving modes, such as fully autonomous control and automated control of specific functions (e.g., parking assistance, automated control during highway driving, braking assistance, etc.). The perception system is intended to be able to detect a wide variety of dynamic situations and objects. It is desirable to improve aspects of object detection and reaction to dynamic events. Disclosure of Invention In one exemplary embodiment, a system for monitoring a vehicle environment includes a perception system in communication with a vehicle sensor configured to receive perception data from the vehicle sensor. The system also includes a scene detection module configured to detect a first object based on the perception data and analyze behavior of the first object to predict whether a reveal scene is occurring or is about to occur, wherein the occluded object is revealed in the reveal scene. The system also includes a control module configured to perform at least one of controlling the vehicle to respond to the occluded object and presenting information about the occluded object to a user based on detecting the occluded object as an revealed object. In addition to one or more features described herein, the perception system is configured to operate in a normal detection mode in which object detection is performed based on a set of normal criteria and a modified detection mode in which object detection is performed based on a set of modified criteria, and the scene detection module is configured to cause the perception system to transition from the normal detection mode to the modified detection mode based on a prediction to reveal that a scene is occurring or is about to occur. In addition to one or more features described herein, the normal detection mode specifies that the perception system performs object detection based on a first number of detection modalities, and the modified detection mode specifies that the perception system performs object detection based on a reduced number of detection modalities, the reduced number being less than the first number. In addition to one or more of the features described herein, the normal detection mode is associated with a first delay and the modified detection mode is associated with a second delay that is less than the first delay. In addition to one or more features described herein, the scene detection module is configured to predict that a revealing scene is occurring or is about to occur based on the manipulation performed by the first object. In addition to one or more features described herein, the first object is a front vehicle traveling in front of the vehicle, the occluding object is a third vehicle in front of the front vehicle, and the maneuver is an aggressive maneuver performed by the first object. In addition to one or more features described herein, the scene detection module is configured to predict that a revealing scene is occurring or is about to occur based on classifying behavior according to a machine learning model. In addition to one or more features described herein, the first object is a front vehicle traveling in front of the vehicle, and the machine learning model is configured to determine whether the behavior is classified as a aggressive maneuver. In addition to one or more features described herein, the perception system is configured to perform object detection according to a normal detection mode and a modified detection mode, the normal detection mode being associated with a first delay, the modified detection mode being associated with a second delay that is less than the first delay, and the scene detection module is configured to cause the perception system to operate in the modified detection mode based on determining that the behavior is classified as a aggressive maneuver. In another exemplary embodiment, a method of monitoring a vehicle environment includes receiving perception data from vehicle sensors of a perception system of a vehicle, detecting a first object in the environment surrounding the vehicle based on the perception data, and analyzing behavior of the first object to predict whether a reveal scene is occurring or is about to occur, wherein occluded objects are revealed in the reveal scene. The method further includes, based on predicting that a reveal scene is occurring or is about to occur, and based on detecting the occluded object