Automated vehicle operation to compensate for sensor field-of-view limitations

Abstract

An operating system for an automated vehicle equipped with limited field-of-view sensors is provided. The system includes an object-detector and a controller. The object-detector detects objects proximate to a host-vehicle. A field-of-view of the object-detector is characterized by a preferred-portion of the field-of-view, where the preferred-portion is characterized as preferred for using the object-detector. The controller is in communication with the object-detector. The controller steers the host-vehicle to align the preferred-portion with a detected-object. The system optionally includes an intersecting-road-indicator that indicates an intersecting-road connected to an intersection approached by the host-vehicle, and the controller is in communication with the intersecting-road-indicator. The controller designates an intersecting-road as the detected-object, and steers the host-vehicle to align the preferred-portion of the object-detector with the intersecting-road when the host-vehicle approaches the intersection.

1 - 7 . (canceled) 
     
     
         8 . A system comprising:
 at least one location detector to determine a first location of a vehicle;   at least one object detector to detect at least one object and a second location of the at least one object, wherein the at least one object detector comprises a camera configured to operate in a wide-view mode or a telescopic mode, wherein a field of view in the wide-view mode is larger than the field of view in the telescopic mode, wherein a precision of detection in the wide-view mode is lower than the precision of detection in the telescopic mode; and   a controller to determine a distance between the first location and the second location, wherein the controller is configured to activate the telescopic mode of the camera if the distance is less than or equal to a threshold value, wherein the controller is configured to activate the wide-view mode of the camera if the distance is more than a threshold value, wherein the controller is configured to steer the vehicle to align the at least one detected object with the field of view in the telescopic mode if the telescopic mode has been activated, wherein the controller is configured to steer the vehicle to align the at least one detected object with the field of view in the wide-view mode if the wide-view mode has been activated.   
     
     
         9 . The system of  claim 8 , wherein the precision is based on one or more of sensitivity, resolution, or detection range of the camera. 
     
     
         10 . The system of  claim 8 , wherein the controller is configured to switch the camera from the wide-view mode to the telescopic mode when the distance exceeds the threshold value, wherein the controller is configured to switch the camera from the telescopic mode to the wide-view mode when the distance becomes less than or equal to the threshold value. 
     
     
         11 . The system of  claim 8 , wherein the at least one object detector further comprises a radar, wherein the field of view of the radar is characterized by a sensitivity-pattern comprising side lobes and a main lobe, wherein the controller is configured to steer the vehicle to align the main lobe with the at least one object. 
     
     
         12 . The system of  claim 8 , wherein the at least one object detector further comprises a light detection and ranging device, wherein the light detection and ranging device is configured to operate in a slow and wide mode or a fast and narrow mode, wherein the controller is configured to activate the light detection and ranging device in the slow and wide mode when the field of view of the light detection and ranging device is scannable by the light detection and ranging device, wherein the controller is configured to activate the light detection and ranging device operates in the fast and narrow mode when only a particular portion of the field of view of the light detection and ranging device is scannable by the light detection and ranging device. 
     
     
         13 . The system of  claim 8 , wherein the vehicle is traveling on a first road, wherein the at least one object is one or more of a second road that intersects the first road or another vehicle. 
     
     
         14 . A method comprising:
 determining, by at least one location detector, a first location of a vehicle;   detecting, by at least one object detector, at least one object and a second location of the at least one object, wherein the at least one object detector comprises a camera configured to operate in a wide-view mode or a telescopic mode, wherein a field of view in the wide-view mode is larger than the field of view in the telescopic mode, wherein a precision of detection in the wide-view mode is lower than the precision of detection in the telescopic mode;   determining, by a controller coupled to the at least one location detector and the at least one object detector, a distance between the first location and the second location;   activating, by the controller and if the distance is less than or equal to a threshold value, the telescopic mode of the camera, wherein the controller is configured to steer the vehicle to align the at least one detected object with the field-of-view in the telescopic mode if the telescopic mode has been activated; and   activating, by the controller and if the distance is more than a threshold value, the wide-view mode of the camera, wherein the controller is configured to steer the vehicle to align the at least one detected object with the field-of-view in the wide-view mode if the wide-view mode has been activated.   
     
     
         15 . The method of  claim 14 , wherein the precision is based on one or more of sensitivity, resolution, or detection range of the camera. 
     
     
         16 . The method of  claim 14 , wherein the controller is configured to switch the camera from the wide-view mode to the telescopic mode when the distance exceeds the threshold value, wherein the controller is configured to switch the camera from the telescopic mode to the wide-view mode when the distance becomes less than or equal to the threshold value. 
     
     
         17 . The method of  claim 14 , wherein the at least one object detector further comprises a radar, wherein the field of view of the radar is characterized by a sensitivity-pattern comprising side lobes and a main lobe, wherein the controller is configured to steer the vehicle to align the main lobe with the at least one object. 
     
     
         18 . The method of  claim 14 , wherein the at least one object detector further comprises a light detection and ranging device, wherein the light detection and ranging device is configured to operate in a slow and wide mode or a fast and narrow mode, wherein the controller is configured to activate the light detection and ranging device in the slow and wide mode when the field of view of the light detection and ranging device is scannable by the light detection and ranging device, wherein the controller is configured to activate the light detection and ranging device operates in the fast and narrow mode when only a particular portion of the field of view of the light detection and ranging device is scannable by the light detection and ranging device. 
     
     
         19 . The method of  claim 14 , wherein the vehicle is traveling on a first road, wherein the at least one object is one or more of a second road that intersects the first road or another vehicle. 
     
     
         20 . A non-transitory computer program product storing instructions that, when executed by at least one programmable processor, cause the at least one programmable processor to perform operations comprising:
 determining, by at least one location detector, a first location of a vehicle;   detecting, by at least one object detector, at least one object and a second location of the at least one object, wherein the at least one object detector comprises a camera configured to operate in a wide-view mode or a telescopic mode, wherein a field of view in the wide-view mode is larger than the field of view in the telescopic mode, wherein a precision of detection in the wide-view mode is lower than the precision of detection in the telescopic mode;   determining, by a controller coupled to the at least one location detector and the at least one object detector, a distance between the first location and the second location;   activating, by the controller and if the distance is less than or equal to a threshold value, the telescopic mode of the camera, wherein the controller is configured to steer the vehicle to align the at least one detected object with the field-of-view in the telescopic mode if the telescopic mode has been activated; and   activating, by the controller and if the distance is more than a threshold value, the wide-view mode of the camera, wherein the controller is configured to steer the vehicle to align the at least one detected object with the field-of-view in the wide-view mode if the wide-view mode has been activated.   
     
     
         21 . The non-transitory computer program product of  claim 20 , wherein the precision is based on one or more of sensitivity, resolution, or detection range of the camera. 
     
     
         22 . The non-transitory computer program product of  claim 20 , wherein the controller is configured to switch the camera from the wide-view mode to the telescopic mode when the distance exceeds the threshold value, wherein the controller is configured to switch the camera from the telescopic mode to the wide-view mode when the distance becomes less than or equal to the threshold value. 
     
     
         23 . The non-transitory computer program product of  claim 20 , wherein the at least one object detector further comprises a radar, wherein the field of view of the radar is characterized by a sensitivity-pattern comprising side lobes and a main lobe, wherein the controller is configured to steer the vehicle to align the main lobe with the at least one object. 
     
     
         24 . The non-transitory computer program product of  claim 20 , wherein the at least one object detector further comprises a light detection and ranging device, wherein the light detection and ranging device is configured to operate in a slow and wide mode or a fast and narrow mode, wherein the controller is configured to activate the light detection and ranging device in the slow and wide mode when the field of view of the light detection and ranging device is scannable by the light detection and ranging device, wherein the controller is configured to activate the light detection and ranging device operates in the fast and narrow mode when only a particular portion of the field of view of the light detection and ranging device is scannable by the light detection and ranging device. 
     
     
         25 . The non-transitory computer program product of  claim 20 , wherein the vehicle is traveling on a first road, wherein the at least one object is one or more of a second road that intersects the first road or another vehicle.