System and method for navigating an autonomous vehicle using laser detection and ranging

• US 8,364,334 B2
• Filed: 10/30/2008
• Issued: 01/29/2013
• Est. Priority Date: 10/30/2008
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Au, Kwong Wing, Touchberry, Alan B., VanVoorst, Brian, Schewe, Jon
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Do, Truc M
• Application Number:
  US12/261,683
• Publication Number:
  US 20100114416A1
• Time in Patent Office: 1,552 Days
• Field of Search: 701/23, 701/514, 701/408, 701/448
• US Class Current: 701/23
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system and method for providing information for autonomous vehicle navigation are disclosed. The system comprises at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle, and a geo-location unit comprising one or more global positioning system sensors and inertial navigation system sensors. The system also includes at least one processor in operative communication with the laser scanner and the geo-location unit. The processor is configured to execute one or more program modules comprising a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan, and output range-based classification data; an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.

Claims

1. A system for providing information for autonomous vehicle navigation, the system comprising:

at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle;

a geo-location unit for the autonomous vehicle, the geo-location unit comprising one or more global positioning system sensors, and one or more inertial navigation system sensors; and

at least one processor in operative communication with the laser scanner and the geo-location unit, the processor configured to execute one or more program modules comprising;

a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data;

a range-based processing module configured to receive data from a single range scan, and output range-based classification data;

an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and

a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.

2. The system of claim 1, wherein the at least one laser scanner comprises a laser detection and ranging device.

3. The system of claim 1, wherein the processor comprises a computer, a digital signal processor, or a field programmable gate array.

4. The system of claim 1, wherein one or more of the processing modules are configured to receive auxiliary road information.

5. The system of claim 1, further comprising a coordinate transformation module configured to receive and transform range scan data into world coordinates.

6. The system of claim 5, wherein the coordinate transformation module is configured to receive navigation data from the geo-location unit.

7. The system of claim 6, wherein the range scan data and the navigation data are time stamped.

8. The system of claim 1, wherein the ground plane-based processing module is configured to receive range-based classification data from the range-based processing module.

9. The system of claim 1, wherein the ground plane-based processing module is configured to receive range bin classification data from the classification fusion module.

10. The system of claim 1, wherein the intensity-based processing module is configured to receive range-based classification data from the range-based processing module.

11. The system of claim 1, wherein the range-based processing module comprises:

a road model estimation program configured to receive range scan data;

a road model generation program configured to receive output data from the road model estimation program; and

a road segment determination program configured to receive output data from the road model generation program, and generate labels for one or more of a road, a curb, an obstacle, or a sidewalk.

12. The system of claim 1, wherein the intensity-based processing module comprises instructions to:

store distance-based road intensities in a buffer from multiple previous scans;

generate a histogram from the road intensities stored in the buffer; and

compute a road intensity distribution of road elements based on the histogram and a current intensity scan using a kernel density estimator.

13. A method for providing information for navigating an autonomous vehicle, the method comprising:

scanning a distance around the autonomous vehicle to obtain a current range scan;

obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle, during the scanning of the distance;

processing the current range scan and the navigation data using one or more program modules comprising;

a ground plane-based processing module configured to receive range scan data transformed into world coordinates and output ground plane-based classification data;

a range-based processing module configured to receive data from a single range scan and output range-based classification data; and

an intensity-based processing module configured to receive intensity scan data and output intensity-based classification data.

14. The method of claim 13, wherein when the current range scan and the navigation data are processed using more than one of the processing modules, the method further comprises:

fusing the classification data output from the processing modules; and

outputting range bin classification data based on the fused classification data.

15. The method of claim 14, wherein the range bin classification data is fed back to the ground plane-based processing module.

16. The method of claim 13, wherein the range scan data is transformed into world coordinates by a coordinate transformation module that receives the current range scan and the navigation data.

17. The method of claim 13, wherein one or more of the processing modules receive auxiliary road information.

18. The method of claim 17, wherein the current range scan and the navigation data are time stamped.

19. The method of claim 13, wherein the range-based processing module comprises:

a road model estimation program that receives range scan data;

a road model generation program that receives output data from the road model estimation program; and

a road segment determination program that receives output data from the road model generation program, and generates labels for one or more of a road, a curb, an obstacle, or a sidewalk.

20. The method of claim 13, wherein the intensity-based processing module performs a process comprising:

storing distance-based road intensities in a buffer from multiple previous scans;

generating a histogram from the road intensities stored in the buffer; and

computing a road intensity distribution of road elements based on the histogram and a current intensity scan using a kernel density estimator.