Construction zone object detection using light detection and ranging
First Claim
1. A method, comprising:
- receiving, at a computing device configured to control a vehicle, from a light detection and ranging (LIDAR) sensor coupled to the computing device, LIDAR-based information relating to a three-dimensional (3D) point cloud of a road on which the vehicle is travelling, wherein the 3D point cloud comprises points corresponding to light emitted from the LIDAR and reflected from one or more objects on the road;
selecting, using the computing device, a portion of the 3D point cloud representing an area within a predetermined threshold distance from a surface of the road;
identifying one or more construction zone objects in the selected portion;
determining, using the computing device, a number and locations of the one or more construction zone objects;
determining, using the computing device, a likelihood of existence of a construction zone based on the number and the locations of the one or more construction zone objects;
in response to the likelihood exceeding a threshold likelihood, determining a severity of road changes due to the existence of the construction zone based on the number and the locations of the one or more construction zone objects;
modifying, using the computing device, a control strategy associated with a driving behavior of the vehicle based on the likelihood of the existence of the construction zone on the road and the severity of the road changes; and
controlling, using the computing device, the vehicle based on the modified control strategy.
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Accused Products
Abstract
Methods and systems for construction zone object detection are described. A computing device may be configured to receive, from a LIDAR, a 3D point cloud of a road on which a vehicle is travelling. The 3D point cloud may comprise points corresponding to light reflected from objects on the road. Also, the computing device may be configured to determine sets of points in the 3D point cloud representing an area within a threshold distance from a surface of the road. Further, the computing device may be configured to identify construction zone objects in the sets of points. Further, the computing device may be configured to determine a likelihood of existence of a construction zone, based on the identification. Based on the likelihood, the computing device may be configured to modify a control strategy of the vehicle; and control the vehicle based on the modified control strategy.
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Citations
19 Claims
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1. A method, comprising:
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receiving, at a computing device configured to control a vehicle, from a light detection and ranging (LIDAR) sensor coupled to the computing device, LIDAR-based information relating to a three-dimensional (3D) point cloud of a road on which the vehicle is travelling, wherein the 3D point cloud comprises points corresponding to light emitted from the LIDAR and reflected from one or more objects on the road; selecting, using the computing device, a portion of the 3D point cloud representing an area within a predetermined threshold distance from a surface of the road; identifying one or more construction zone objects in the selected portion; determining, using the computing device, a number and locations of the one or more construction zone objects; determining, using the computing device, a likelihood of existence of a construction zone based on the number and the locations of the one or more construction zone objects; in response to the likelihood exceeding a threshold likelihood, determining a severity of road changes due to the existence of the construction zone based on the number and the locations of the one or more construction zone objects; modifying, using the computing device, a control strategy associated with a driving behavior of the vehicle based on the likelihood of the existence of the construction zone on the road and the severity of the road changes; and controlling, using the computing device, the vehicle based on the modified control strategy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium having stored thereon instructions executable by a computing device of a vehicle to cause the computing device to perform functions comprising:
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receiving, from a light detection and ranging (LIDAR) sensor coupled to the computing device, LIDAR-based information relating to a three-dimensional (3D) point cloud of a road on which the vehicle is travelling, wherein the 3D point cloud comprises points corresponding to light emitted from the LIDAR and reflected from objects on the road; selecting a portion of the 3D point cloud representing an area within a predetermined threshold distance from a surface of the road; identifying one or more construction zone objects in the selected portion; determining, for each identified construction zone object, a respective likelihood of the identification; determining, based on the respective likelihoods, a number and locations of the one or more construction zone objects; determining a likelihood of existence of a construction zone based on the number and the locations of the one or more construction zone objects; in response to the likelihood exceeding a threshold likelihood, determining a severity of road changes due to the existence of the construction zone based on the number and the locations of the one or more construction zone objects; modifying a control strategy associated with a driving behavior of the vehicle based on the likelihood of the existence of the construction zone on the road and the severity of the road changes; and controlling the vehicle based on the modified control strategy. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A control system for a vehicle, comprising:
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a light detection and ranging (LIDAR) sensor configured to provide LIDAR-based information relating to a three-dimensional (3D) point cloud of a road on which the vehicle is travelling, wherein the 3D point cloud comprises points corresponding to light emitted from the LIDAR sensor and reflected from objects on the road; and a computing device in communication with the LIDAR sensor and configured to; receive the LIDAR-based information; select a portion of the 3D point cloud representing an area within a predetermined threshold distance from a surface of the road; identify one or more construction zone objects in the selected portion; determine, for each identified construction zone object, a respective likelihood of the identification; determine, based on the respective likelihoods, a number and locations of the one or more construction zone objects; determine a likelihood of existence of a construction zone based on the number and the locations of the one or more construction zone objects; in response to the likelihood exceeding a threshold likelihood, determine a severity of road changes due to the existence of the construction zone based on the number and the locations of the one or more construction zone objects; modify a control strategy associated with a driving behavior of the vehicle based on the likelihood of the existence of the construction zone on the road and the severity of the road changes; and control the vehicle based on the modified control strategy. - View Dependent Claims (17, 18, 19)
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Specification