FIELD OF THE INVENTION

This disclosure relates to implementing a camera system onboard an autonomous vehicle. More particularly, this disclosure relates to techniques for implementing a tracking camera system onboard the autonomous vehicle.

BACKGROUND

In general, self-driving vehicles, assisted-driving vehicles, and/or autonomous vehicles refer to a category of vehicles that can be operated with limited or no human interactions. These vehicles rely on acquiring road information from various sensors and/or devices onboard to make driving decisions. In particular, autonomous vehicles predominately rely on light detection and ranging sensors (LiDARs) to monitor an environment. The autonomous vehicles can utilize the LiDARs to quickly detect, identify, and track objects (e.g., pedestrians, cyclists, other moving vehicles, traffic lights, etc.) in the environment. For example, a LiDAR can detect, identify, and differentiate a pedestrian from a cyclist. In some instances, the LiDAR can determine a speed and a direction (e.g., track) at which the pedestrian is walking and/or the cyclist is cycling. Generally, LiDARs can identify objects up to some threshold distance. Beyond this threshold distance, the LiDARs' ability to accurately identify objects diminishes.

SUMMARY

Various embodiments of the present disclosure can include systems, methods, and non-transitory computer readable media configured to implement a tracking camera system onboard an autonomous vehicle. Coordinates of an object can be received. The tracking camera system actuates, based on the coordinate data, to a position such that the object is in view of the tracking camera system. Vehicle operation data of the autonomous vehicle can be received. The position of the tracking camera system can be adjusted, based on the vehicle operation data, such that the object remains in view of the tracking camera system while the autonomous vehicle is in motion. A focus of the tracking camera system can be adjusted to bring the object in focus. The tracking camera system captures image data corresponding to the object.

In some embodiments, the image data can be analyzed, based on one or more object identification and recognition algorithms, to identify the object. A confidence score associated with the identified object can be determined.

In some embodiments, the object is located beyond a threshold distance for which a LiDAR no longer accurately identifies the object.

In some embodiments, the coordinate data comprise azimuth data and elevation data corresponding to a location of the object.

In some embodiments, the azimuth data corresponding to the location of the object is determined from a rotation and point cloud data of the LiDAR.

In some embodiments, the elevation data corresponding to the location of the object is determined from point cloud data of the LiDAR.

In some embodiments, the tracking camera system can be rotated to an azimuth position corresponding to the coordinate data. The tracking camera system can be pivoted to an elevation position corresponding to the coordinate data.

In some embodiments, the vehicle operation data comprises at least a speed and a direction of the autonomous vehicle.

In some embodiments, the tracking camera system can be continuously rotated, in azimuth, to account for a vehicle speed and a vehicle direction. The tracking camera system can be continuously pivoted, in elevation, to account for the vehicle speed and the vehicle direction.

In some embodiments, a phase difference between the object and the tracking camera system can be determined. One or more lenses in an optical system of the tracking camera can be actuated, based on the phase difference, to bring the object in focus.

These and other features of the systems, methods, and non-transitory computer readable media disclosed herein, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for purposes of illustration and description only and are not intended as a definition of the limits of the invention.

