Negative obstacle detector

• US 9,946,259 B2
• Filed: 12/18/2015
• Issued: 04/17/2018
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Keller, Sean D., Uyeno, Gerald P., Becker, John R.
• Primary Examiner(s): Olszewski, John
• Assistant Examiner(s): Merlino, David P.
• Application Number:
  US14/974,024
• Publication Number:
  US 20170176990A1
• Time in Patent Office: 851 Days
• Field of Search: None
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

An obstacle detector configured to identify negative obstacles in a vehicle'"'"'s path responsive to steering a laser beam to scan high priority areas in the vehicle'"'"'s path is provided. The high priority areas can be identified dynamically in response to the terrain, speed, and/or acceleration of the vehicle. In some examples, the high priority areas are identified based on a projected position of the vehicles tires. A scan path for the laser, scan rate, and/or a scan location can be dynamically generated to cover the high priority areas.

Claims

1. An obstacle detector comprising:

a laser scanner device including;

an optical source configured to emit a laser beam;

a solid-state liquid crystal waveguide configured to steer the laser beam from the optical source over a field of regard of the laser scanner device according to a discrete scan pattern, a surface of a path of travel of an autonomous vehicle being within the field of regard of the laser scanner device; and

a range detector that generates range information based on receiving a reflection of the laser beam and determines an intensity of the reflection of the laser beam; and

at least one processor operatively connected to the solid-state liquid crystal waveguide and to the range detector and configured to;

estimate a position of one or more portions of the autonomous vehicle that contact the surface of the path of travel;

define the discrete scan pattern to cover at least the surface of the path of travel at the estimated position of the one or more portions of the autonomous vehicle that contact the surface of the path of travel;

direct the solid-state liquid crystal waveguide to steer the laser beam over the field of regard according to the discrete scan pattern;

identify an indicator of at least one hole in the surface of the path of travel based on a discontinuity in the intensity of the reflection of the laser beam and the range information, wherein the discontinuity is established by a plurality of reflections of the laser beam, over different angles of return, each of the plurality of reflections of the laser beam having the same range information and intensity of reflection;

determine a location of an edge of the hole in the surface based on a departure from the same range information; and

correlate a size of the hole in the surface of the path of travel relative to a sample time of the plurality of reflections of the laser beam having the same range information and intensity of reflection.

2. The obstacle detector of claim 1, wherein the at least one processor is configured to validate the indicator of the hole in the surface of the path of travel responsive to subsequent scanning of a region of the field of regard in which the indicator was identified.

3. The obstacle detector of claim 2, wherein the at least one processor is configured to evaluate the intensity of the reflection of the laser beam corresponding to a candidate obstacle to validate the indicator of the hole in the surface of the path of travel.

4. The obstacle detector of claim 1, wherein the optical source is configured to emit multiple wavelengths, and wherein the at least one processor is further configured to identify the indicator responsive to correlating reflections of the multiple wavelengths.

5. The obstacle detector of claim 1, wherein the at least one processor is further configured to select a range gate associated with the range detector from a plurality of range gates;

wherein the at least one processor triggers;

a first range gate for capturing general characteristics of the surface of the path of travel;

a second range gate and a bit depth increase for detecting perturbations in the surface of the path of travel, the second range gate being smaller than the first range gate; and

a third range gate to plot slopes of the surface of the path of travel or detect differences in heights of the surface of the path of travel, the third range gate being larger than the second range gate.

6. An autonomous vehicle comprising:

at least a first wheel positioned to contact a surface of a path of travel of the autonomous vehicle;

a navigation subsystem including at least one of an inertial navigation system (INS) and a GPS unit disposed on the autonomous vehicle;

a laser scanner device disposed on the autonomous vehicle, the laser scanner device including;

an optical source configured to emit a laser beam;

a solid-state liquid crystal waveguide configured to steer the laser beam from the optical source over a field of regard of the laser scanner device according to a discrete scan pattern, the surface of the path of travel of the autonomous vehicle being within the field of regard of the laser scanner device; and

a range detector that generates range information based on receiving a reflection of the laser beam and determines an intensity of the reflection of the laser beam; and

at least one processor operatively connected to the solid-state liquid crystal waveguide and to the range detector and configured to;

estimate a position of the at least first wheel;

define the discrete scan pattern responsive to analyzing at least one of terrain information, vehicle information, information from the at least one of the INS and the GPS unit, and an estimate of the path of travel of the autonomous vehicle, the discrete scan pattern covering at least the surface of the path of travel at the estimated position of the at least first wheel;

direct the solid-state liquid crystal waveguide to steer the laser beam over the field of regard according to the discrete scan pattern;

identify an indicator of at least one hole in the surface of the path of travel based on a discontinuity in the intensity of the reflection of the laser beam and the range information, wherein the discontinuity is established by a plurality of reflections of the laser beam, over different angles of return, each of the plurality of reflections of the laser beam having the same range information and intensity of reflection;

determine a location of an edge of the hole in the surface based on a departure from the same range information; and

correlate a size of the hole in the surface of the path of travel relative to a sample time of the plurality of reflections of the laser beam having the same range information and intensity of reflection.

7. The obstacle detector autonomous vehicle of claim 6, wherein the at least one processor is configured to generate control signals to manage steering of the solid-state liquid crystal waveguide according to the discrete scan pattern.

8. The autonomous vehicle of claim 7, wherein the at least one processor is further configured to define a scan frequency for high-speed rescanning of candidate obstacles.

9. The autonomous vehicle of claim 8, wherein at least one processor is configured to tailor the discrete scan pattern responsive to a vehicle speed of the autonomous vehicle.

10. The autonomous vehicle of claim 9, wherein the at least one processor is configured to reduce a scan area associated with the discrete scan pattern responsive to an increase in the vehicle speed or a decrease in the vehicle speed of the autonomous vehicle.

11. The autonomous vehicle of claim 6, wherein the at least one processor is configured to dynamically adjust a base scan pattern to emphasize priority areas in the field of regard of the laser scanner device, wherein the priority areas are identified by the at least one processor to correspond to the at least first wheel.

12. The autonomous vehicle of claim 6, wherein the at least first wheel includes a first single wheel, and wherein the at least one processor is configured to analyze the plurality of reflections of the laser beam to:

identify intensity differences to determine a location of the laser beam on the path of travel;

identify regions free of negative obstacles based on scan information for the estimated position of the at least first wheel; and

identify positive obstacles larger than a ground clearance associated with the autonomous vehicle.

13. A method of detecting a hole in a surface of a path of travel of an autonomous vehicle, the method comprising:

emitting, by an optical source, a laser beam;

directing, by a solid-state liquid crystal waveguide, the laser beam over a scan area, including a surface of a path of travel of an autonomous vehicle and, within a field of regard, according to a discrete scan pattern;

estimating a position of one or more portions of the autonomous vehicle that contact the surface of the path of travel;

defining, by at least one processor, the discrete scan pattern to cover at least the surface of the path of travel at the estimated position of the one or more portions of the autonomous vehicle that contact the surface of the path of travel;

receiving, with a range detector, a plurality of reflections of the laser beam from the scan area over different angles of return;

processing, with the at least one processor, the plurality of reflections of the laser beam to determine range data and intensity information;

identifying, by the at least one processor, at least one hole in the surface of the path of travel based on a discontinuity in the range data and the intensity information, wherein the discontinuity is established by each of the plurality of reflections of the laser beam having the same range data and intensity of reflection;

determining a location of an edge of the hole in the surface based on a departure from the same range data; and

correlating a size of the hole in the surface of the path of travel relative to a sample time of the plurality of reflections of the laser beam having the same range data and intensity of reflection.

14. The method of claim 13, wherein the act of identifying includes acts of:

analyzing multiple wavelengths in the plurality of reflections of the laser beam, and

identifying the hole in the surface of the path of travel responsive to correlating returns from the multiple wavelengths.

15. The method of claim 13, further comprising rescanning a region of the scan area to validate identification of the at least one hole in the surface of the path of travel.

16. The method of claim 13, wherein the act of defining the discrete scan pattern includes defining the discrete scan pattern responsive to analyzing one or more of:

terrain information, vehicle information, and an estimate of the path of travel path of the autonomous vehicle, and wherein the optical source, the solid-state liquid crystal waveguide, and the at least one processor are located on the autonomous vehicle.

17. The method of claim 13, wherein defining the discrete scan pattern includes:

defining a location and a scan frequency for high-speed rescanning of candidate obstacles; and

tailoring the definition of the discrete scan pattern responsive to vehicle speed.

18. The method of claim 13, further comprising tailoring a range gate associated with the range detector:

establishing a first range gate for capturing general characteristics of the surface of the path of travel;

establishing a second range gate and a bit depth increase for detecting perturbations in the surface of the path of travel, the second range gate being smaller than the first range gate; and

establishing a third range gate to plot slopes of the surface of the path of travel or detect differences in relative height of sections of the surface of the path of travel, the third range gate being larger than the second range gate.

19. The method of claim 13, further comprising analyzing return signals corresponding to the plurality of reflections of the laser beam and at least one of:

identifying intensity differences in the return signals to determine a location of the laser beam on the path of travel, responsive to analyzing the return signals;

identifying regions free of negative obstacles based on scan information for the estimated position of the one or more portions of the autonomous vehicle that contact the surface of the path of travel, wherein the surface of the path of travel at the estimated position of the one or more portions of the autonomous vehicle that contact the surface of the path of travel includes an area for a single wheel of the autonomous vehicle and another discrete area based on a distance offset associated with a second wheel of the autonomous vehicle, responsive to analyzing the return signals;

or

identifying positive obstacles larger than ground clearance associated with the autonomous vehicle, responsive to analyzing the return signals.