发明名称 |
Methods and systems for pedestrian avoidance using LIDAR |
摘要 |
An autonomous vehicle configured to detect and avoid pedestrians may use information from LIDAR or other range-based sensors. An example method involves: (a) receiving, at a computing device, range data corresponding to a plurality of objects in an environment of a vehicle, wherein the range data comprises a plurality of first data points; (b) generating a spherical data set comprising a plurality of second data points, wherein spherical coordinates for each second data point are generated based on a corresponding one of the first plurality of data points; and (c) determining a two-dimensional map based on the spherical data set comprising the plurality of second data points, wherein the two-dimensional map comprises a plurality of pixels, wherein each pixel of the plurality of pixels is indicative of a plurality of parameters corresponding to the plurality of objects in the environment. |
申请公布号 |
US9315192(B1) |
申请公布日期 |
2016.04.19 |
申请号 |
US201314041121 |
申请日期 |
2013.09.30 |
申请人 |
Google Inc. |
发明人 |
Zhu Jiajun;Morton Peter |
分类号 |
G08G1/00;B60W30/18;G06K9/62;G06T11/00;G05D1/02 |
主分类号 |
G08G1/00 |
代理机构 |
McDonnell Boehnen Hulbert & Berghoff LLP |
代理人 |
McDonnell Boehnen Hulbert & Berghoff LLP |
主权项 |
1. A computer-implemented method comprising:
receiving, at a computing device from at least one sensor coupled to a vehicle, range data corresponding to a plurality of objects in an environment of the vehicle, wherein the range data comprises a plurality of first data points configured in a three-dimensional point cloud; responsive to receiving the range data, generating a spherical data set comprising a plurality of second data points, wherein spherical coordinates for each second data point are generated based on a corresponding one of the first plurality of data points; and determining, by the computing device associated with the vehicle, a two-dimensional map based on the spherical data set comprising the plurality of second data points, wherein the two-dimensional map comprises a plurality of pixels, wherein each pixel of the plurality of pixels is indicative of a plurality of parameters including elevation information, intensity information, and distances from the vehicle corresponding to the plurality of objects in the environment. |
地址 |
Mountain View CA US |