×

Training a machine learning based model of a vehicle perception component based on sensor settings

  • US 10,514,462 B2
  • Filed: 10/31/2018
  • Issued: 12/24/2019
  • Est. Priority Date: 12/13/2017
  • Status: Active Grant
First Claim
Patent Images

1. A method for configuring a perception component of a vehicle having one or more sensors configured to sense an environment through which the vehicle is moving, the method comprising:

  • generating, by one or more processors, a first set of training data that includes (i) first sensor data indicative of real or simulated vehicle environments, the first sensor data corresponding to a first setting of one or more sensor parameters, the first setting defining a first spatial distribution of scan lines within a point cloud, the first spatial distribution including;

    a uniform distribution, a sampling of a continuous mathematical distribution, or a plurality of regions each having a different uniform spatial distribution, and (ii) an indicator of the first setting;

    generating, by one or more processors, a second set of training data that includes (i) second sensor data indicative of real or simulated vehicle environments, the second sensor data corresponding to a second setting of the one or more sensor parameters, the second setting defining a second spatial distribution of scan lines within a point cloud, the second spatial distribution of scan lines being different than the first spatial distribution of scan lines, and (ii) an indicator of the second setting; and

    training, by one or more processors, the perception component, at least in part by training a machine learning based model of the perception component using the first and second sets of training data,wherein the trained perception component is configured to generate signals descriptive of a current state of the environment, as the vehicle moves through the environment, by processing (i) sensor data generated by the one or more sensors, the sensor data including point clouds generated by the one or more sensors and (ii) one or more indicators indicating which setting of the one or more sensor parameters corresponds to which portions of the generated sensor data including indicating which spatial distributions correspond to which of the point clouds generated by the one or more sensors.

View all claims
  • 5 Assignments
Timeline View
Assignment View
    ×
    ×