Construction zone sign detection using light detection and ranging
First Claim
1. A method, comprising:
- selecting, by a computing device of a vehicle, a portion of a three-dimensional (3D) point cloud representing an area at a height greater than a threshold height from a surface of a road of travel of the vehicle;
identifying a shape in the selected portion;
determining, using the computing device, that the identified shape represents a construction zone sign based at least on an outline of the shape;
determining a type of the construction zone sign based at least on the identified shape;
detecting one or more construction zone objects on the road;
determining a severity of road changes based on a number and locations of the one or more construction zone objects; and
controlling, using the computing device, the vehicle based on the type of the construction zone sign and the severity of road changes.
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Accused Products
Abstract
Methods and systems for construction zone sign detection are described. A computing device may be configured to receive a 3D point cloud of a vicinity of a road on which a vehicle is travelling. The 3D point cloud may include points corresponding to light reflected from objects in the vicinity of the road. The computing device may be configured to determine a set of points representing an area at a given height from a surface of the road, and estimate a shape associated with the set of points. Further, the computing device may be configured to determine a likelihood that the set of points represents a construction zone sign, based on the estimated shape. Based on the likelihood, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
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Citations
20 Claims
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1. A method, comprising:
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selecting, by a computing device of a vehicle, a portion of a three-dimensional (3D) point cloud representing an area at a height greater than a threshold height from a surface of a road of travel of the vehicle; identifying a shape in the selected portion; determining, using the computing device, that the identified shape represents a construction zone sign based at least on an outline of the shape; determining a type of the construction zone sign based at least on the identified shape; detecting one or more construction zone objects on the road; determining a severity of road changes based on a number and locations of the one or more construction zone objects; and controlling, using the computing device, the vehicle based on the type of the construction zone sign and the severity of road changes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device of a vehicle, cause the computing device to perform operations comprising:
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selecting a portion of a three-dimensional (3D) point cloud representing an area at a height greater than a threshold height from a surface of a road of travel of the vehicle; identifying a shape in the selected portion; determining that the identified shape represents a construction zone sign based at least on an outline of the shape; determining a type of the construction zone sign based at least on the identified shape; detecting one or more construction zone objects on the road; determining a severity of road changes based on a number and locations of the one or more construction zone objects; and controlling the vehicle based on the type of the construction zone sign and the severity of road changes. - View Dependent Claims (10, 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) device configured to capture a three-dimensional (3D) point cloud of a vicinity of a road of travel of the vehicle; a computing device in communication with the LIDAR device; and data storage comprising instructions that, when executed by the computing device, cause the control system to perform operations comprising; selecting a portion of the 3D point cloud representing an area at a height greater than a threshold height from a surface of the road of travel of the vehicle; identifying a shape in the selected portion; determining that the identified shape represents a construction zone sign based at least on an outline of the shape; determining a type of the construction zone sign based at least on the identified shape; detecting one or more construction zone objects on the road; determining a severity of road changes based on a number and locations of the one or more construction zone objects; and controlling the vehicle based on the type of the construction zone sign and the severity of road changes. - View Dependent Claims (17, 18, 19, 20)
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Specification