SG11201810922VA - Methods and systems for detecting environmental information of a vehicle - Google Patents

Methods and systems for detecting environmental information of a vehicle

Info

Publication number
SG11201810922VA
SG11201810922VA SG11201810922VA SG11201810922VA SG11201810922VA SG 11201810922V A SG11201810922V A SG 11201810922VA SG 11201810922V A SG11201810922V A SG 11201810922VA SG 11201810922V A SG11201810922V A SG 11201810922VA SG 11201810922V A SG11201810922V A SG 11201810922VA
Authority
SG
Singapore
Prior art keywords
points
coordinates
beijing
building
international
Prior art date
Application number
SG11201810922VA
Inventor
Weilong Yao
Zenan Meng
Jian Liu
Hao Zhang
Shen Tan
Yehe Cai
Zheng Yang
Original Assignee
Beijing Didi Infinity Technology & Development Co Ltd
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 Beijing Didi Infinity Technology & Development Co Ltd filed Critical Beijing Didi Infinity Technology & Development Co Ltd
Publication of SG11201810922VA publication Critical patent/SG11201810922VA/en

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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/647—Three-dimensional objects by matching two-dimensional images to three-dimensional objects
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) --,, (19) World Intellectual Property MTh 0 111111 11 111 11111 0 11 110 1 0 111 11111 0111 11 111 0 11 11111 110 11110 1111 0 11 1111 Organization International Bureau (10) International Publication Number (43) International Publication Date .......•* WO 2019/037129 Al 28 February 2019 (28.02.2019) WIP0 I PCT (51) International Patent Classification: Building 34, No. 8 Dongbeiwang West Road, Haidian Dis- G01S 17/06 (2006.01) trict, Beijing 100193 (CN). (21) International Application Number: (74) Agent: METIS IP (CHENGDU) LLC; No. 846 South PCT/CN2017/099173 Tianfu Road, Tianfu Innovation Center, Chengdu, Sichuan 610213 (CN). (22) International Filing Date: 25 August 2017 (25.08.2017) (81) Designated States (unless otherwise indicated, for every (25) Filing Language: English kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, (26) Publication Language: English CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, (71) Applicant: BEIJING DIDI INFINITY TECHNOLOGY HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, AND DEVELOPMENT CO., LTD. [CN/CN]; Building KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, 34, No. 8 Dongbeiwang West Road, Haidian District, Bei- MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, jing 100193 (CN). OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, (72) Inventors: YAO, Weilong; Building 34, No. 8 Dongbei- SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, wang West Road, Haidian District, Beijing 100193 (CN). TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. MENG, Zenan; Building 34, No. 8 Dongbeiwang West (84) Designated States (unless otherwise indicated, for every Road, Haidian District, Beijing 100193 (CN). LIU, Jian; kind of regional protection available): ARIPO (BW, GH, Building 34, No. 8 Dongbeiwang West Road, Haidian Dis- GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, trict, Beijing 100193 (CN) ZHANG, Hao; Building 34, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, No. 8 Dongbeiwang West Road, Haidian District, Beijing TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, 100193 (CN). TAN, Shen; Building 34, No. 8 Dongbei- EE, ES, FI, FR, GB, GR, HR, HU, 1E, IS, IT, LT, LU, LV, = — wang West Road, Haidian District, Beijing 100193 (CN). MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, = CAI, Yehe; Building 34, No. 8 Dongbeiwang West Road, = Haidian District, Beijing 100193 (CN). YANG, Zheng; Title: METHODS AND SYSTEMS FOR DETECTING ENVIRONMENTAL INFORMATION OF A VEHICLE (54) (57) : A system (100) for detecting a surrounding object may receive, from 400 a camera (120), a first image including a plurality of pixels relating to one or more = = Receiving, from a camera, a first image including a plurality iv 410 objects and receive, from one or more LiDARs (112, 114, 116), a first point set of pixels relating to one or more objects including a plurality of points corresponding to the plurality of pixels. The system = (100) may also, based on the first point set, determine 3D coordinates and reflection = 1 intensities of the plurality of points, based on which the system (100) may generate = Receiving, from one or more LiDARs, a first point set including a plurality of points corresponding to the plurality of pixels of the first image 6,/ 420 a segment result by classifying the plurality of points. The system (100) may further transform the 3D coordinates of the plurality of points into 2D coordinates and de- = _ 1 termine an object type of the one or more objects based on the 2D coordinates, the = Determining first 3D coordinates of the plurality of points and reflection intensity of the plurality of points based on the first point set t - Ay 430 3D coordinates, the segment result, and the first image. = = i = — Generating a segment result by classifying the plurality of points based on the first 3D coordinates of the plurality of 6,,, 440 = — points and the reflection intensities of the plurality of points 1 _ Transforming the first 3D coordinates of the plurality of points into first 2D coordinates of the plurality of points /1,, , 450 11 '1° 1 C.: N Determining an object type of the one or more objects based on the first 2D coordinates of the plurality of points, the first Ay 460 - 11 3D coordinates of the plurality of points, the segments result. and the first image 1 IN 1 M C::: ) ........ Determining environmental information relating to the one or 71 ./ 470 C.: in the first image based the type more objects on object 11 FIG. 4 O N O [Continued on next page] WO 2019/037129 Al HINIONOIMEIMEHEMINIMENHOUREMIEMIE TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3))
SG11201810922VA 2017-08-25 2017-08-25 Methods and systems for detecting environmental information of a vehicle SG11201810922VA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/099173 WO2019037129A1 (en) 2017-08-25 2017-08-25 Methods and systems for detecting environmental information of a vehicle

Publications (1)

Publication Number Publication Date
SG11201810922VA true SG11201810922VA (en) 2019-03-28

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US (1) US10824880B2 (en)
EP (1) EP3465267A4 (en)
JP (1) JP6689006B2 (en)
CN (1) CN109716160B (en)
CA (1) CA3026667C (en)
SG (1) SG11201810922VA (en)
TW (1) TWI691730B (en)
WO (1) WO2019037129A1 (en)

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US10824880B2 (en) 2020-11-03
CN109716160A (en) 2019-05-03
CN109716160B (en) 2022-12-02
CA3026667A1 (en) 2019-01-31
AU2017417170A1 (en) 2019-03-14
JP6689006B2 (en) 2020-04-28
EP3465267A1 (en) 2019-04-10
EP3465267A4 (en) 2019-05-22
TWI691730B (en) 2020-04-21
CA3026667C (en) 2020-09-15
TW201920982A (en) 2019-06-01
WO2019037129A1 (en) 2019-02-28
JP2019533133A (en) 2019-11-14
US20190138822A1 (en) 2019-05-09

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