Construction zone sign detection using light detection and ranging

摘要

Methods and systems for construction zone sign detection are described. A computing device may be configured to receive a 3D point cloud of a vicinity of a road on which a vehicle is travelling. The 3D point cloud may include points corresponding to light reflected from objects in the vicinity of the road. The computing device may be configured to determine a set of points representing an area at a given height from a surface of the road, and estimate a shape associated with the set of points. Further, the computing device may be configured to determine a likelihood that the set of points represents a construction zone sign, based on the estimated shape. Based on the likelihood, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

主权项

1. A method, comprising:
selecting, by a computing device of a vehicle, a portion of a three-dimensional (3D) point cloud representing an area at a height greater than a threshold height from a surface of a road of travel of the vehicle; identifying a shape in the selected portion; determining, using the computing device, that the identified shape represents a construction zone sign based at least on an outline of the shape; determining a type of the construction zone sign based at least on the identified shape; detecting one or more construction zone objects on the road; determining a severity of road changes based on a number and locations of the one or more construction zone objects; and controlling, using the computing device, the vehicle based on the type of the construction zone sign and the severity of road changes.