BR112022001380A2 - Sistema e método para estimativa de espaço livre - Google Patents

Sistema e método para estimativa de espaço livre

Info

Publication number
BR112022001380A2
BR112022001380A2 BR112022001380A BR112022001380A BR112022001380A2 BR 112022001380 A2 BR112022001380 A2 BR 112022001380A2 BR 112022001380 A BR112022001380 A BR 112022001380A BR 112022001380 A BR112022001380 A BR 112022001380A BR 112022001380 A2 BR112022001380 A2 BR 112022001380A2
Authority
BR
Brazil
Prior art keywords
free space
sensor
estimating
obstacles
estimating free
Prior art date
Application number
BR112022001380A
Other languages
English (en)
Inventor
Abhishek Ravi
Derek Kane
J Buitkus Gregory
Raajitha Gummadi
Ravi Teja Boggavarapu Sai
Yu-Hsuan Chang
Original Assignee
Deka Products Lp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deka Products Lp filed Critical Deka Products Lp
Publication of BR112022001380A2 publication Critical patent/BR112022001380A2/pt

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/30—Information retrieval; Database structures therefor; File system structures therefor of unstructured textual data
    • G06F16/33—Querying
    • G06F16/3331—Query processing
    • G06F16/334—Query execution
    • G06F16/3346—Query execution using probabilistic model
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Probability & Statistics with Applications (AREA)
  • Software Systems (AREA)
  • Operations Research (AREA)
  • Mechanical Engineering (AREA)
  • Algebra (AREA)
  • Transportation (AREA)
  • Computational Linguistics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Debugging And Monitoring (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Alarm Systems (AREA)

Abstract

sistema e método para estimativa de espaço livre. a presente invenção refere-se a um sistema e método para estimar o espaço livre e designar probabilidades de espaço livre nos dados de nuvem de pontos associados a um veículo autônomo que percorre uma superfície, incluindo levar em consideração o ruído do sensor, a disponibilidade do sensor, a alturas de obstáculos, e a distância dos obstáculos a partir do sensor. o sistema e método podem incluir determinar planos de superfície e classificar os pontos da nuvem de pontos de acordo com o fato de se, ou não, os pontos se encontram nos planos de superfície, entre outros fatores.
BR112022001380A 2019-07-26 2020-07-24 Sistema e método para estimativa de espaço livre BR112022001380A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962879391P 2019-07-26 2019-07-26
PCT/US2020/043601 WO2021021672A2 (en) 2019-07-26 2020-07-24 System and method for free space estimation

Publications (1)

Publication Number Publication Date
BR112022001380A2 true BR112022001380A2 (pt) 2022-06-07

Family

ID=72087175

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112022001380A BR112022001380A2 (pt) 2019-07-26 2020-07-24 Sistema e método para estimativa de espaço livre

Country Status (12)

Country Link
US (2) US11762061B2 (pt)
EP (1) EP4004584A2 (pt)
JP (2) JP2022541656A (pt)
KR (1) KR20220041859A (pt)
CN (1) CN114365013A (pt)
AU (1) AU2020321235A1 (pt)
BR (1) BR112022001380A2 (pt)
CA (1) CA3145435A1 (pt)
GB (1) GB2601438B (pt)
IL (1) IL290083A (pt)
MX (1) MX2022001060A (pt)
WO (1) WO2021021672A2 (pt)

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CN115039129A (zh) * 2019-12-11 2022-09-09 辉达公司 用于自主机器应用的表面轮廓估计和隆起检测
US11747454B2 (en) * 2021-06-21 2023-09-05 Cyngn, Inc. Granularity-flexible existence-based object detection
EP4160925A1 (en) * 2021-09-30 2023-04-05 Beijing Xiaomi Mobile Software Co., Ltd. Method and apparatus of encoding/decoding point cloud geometry data sensed by at least one sensor
DE102021125653A1 (de) 2021-10-04 2023-04-06 Valeo Schalter Und Sensoren Gmbh Entfernen nicht relevanter Punkte aus einer Punktwolke
CN114355894A (zh) * 2021-12-08 2022-04-15 上海擎朗智能科技有限公司 数据处理方法、机器人以及机器人系统
CN114255325B (zh) * 2021-12-31 2023-07-18 广州极飞科技股份有限公司 地面模型生成、障碍数据确定、作业控制方法及相关装置
WO2024011557A1 (zh) * 2022-07-15 2024-01-18 深圳市正浩创新科技股份有限公司 地图构建方法、装置及存储介质

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Publication number Priority date Publication date Assignee Title
US9495874B1 (en) * 2012-04-13 2016-11-15 Google Inc. Automated system and method for modeling the behavior of vehicles and other agents
US9098754B1 (en) * 2014-04-25 2015-08-04 Google Inc. Methods and systems for object detection using laser point clouds
US9720415B2 (en) * 2015-11-04 2017-08-01 Zoox, Inc. Sensor-based object-detection optimization for autonomous vehicles
JP6756124B2 (ja) * 2016-03-16 2020-09-16 株式会社デンソー 物体検出装置および物体検出プログラム
JP6863027B2 (ja) * 2016-05-10 2021-04-21 株式会社デンソー 立体物検出処理装置
JP6804991B2 (ja) * 2017-01-05 2020-12-23 株式会社東芝 情報処理装置、情報処理方法、および情報処理プログラム
US10859682B2 (en) * 2017-12-07 2020-12-08 Ouster, Inc. Telematics using a light ranging system
TWI652449B (zh) * 2017-12-11 2019-03-01 財團法人車輛研究測試中心 三維感測器之動態地面偵測方法
US11022693B1 (en) * 2018-08-03 2021-06-01 GM Global Technology Operations LLC Autonomous vehicle controlled based upon a lidar data segmentation system

Also Published As

Publication number Publication date
US11762061B2 (en) 2023-09-19
GB2601438B (en) 2024-03-06
CA3145435A1 (en) 2021-02-04
JP2022541656A (ja) 2022-09-26
US20210026361A1 (en) 2021-01-28
EP4004584A2 (en) 2022-06-01
JP2023118909A (ja) 2023-08-25
WO2021021672A2 (en) 2021-02-04
AU2020321235A1 (en) 2022-02-24
CN114365013A (zh) 2022-04-15
US20230393242A1 (en) 2023-12-07
IL290083A (en) 2022-03-01
GB2601438A (en) 2022-06-01
GB202202397D0 (en) 2022-04-06
MX2022001060A (es) 2022-04-20
KR20220041859A (ko) 2022-04-01

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