公开(公告)号：US20180059666A1

公开(公告)日：2018-03-01

申请号：US15244474

申请日：2016-08-23

Applicant: DELPHI TECHNOLOGIES, INC.

Inventor： IZZAT H. IZZAT ,  Dimitris ZERMAS ,  UDAY PITAMBARE

IPC: G05D1/02 ,  G01C21/30 ,  G05D1/00

CPC classification number: G05D1/0212 ,  G01C21/30 ,  G05D1/0088 ,  G06K9/00208 ,  G06K9/00791 ,  G06K9/00798

Abstract: A road-model-definition system suitable for an automated-vehicle includes a lidar-unit and a controller. The lidar-unit is suitable to mount on a host-vehicle. The lidar-unit is used to provide a point-cloud descriptive of an area proximate to the host-vehicle. The controller is in communication with the lidar-unit. The controller is configured to: select ground-points from the point-cloud indicative of a travel-surface, tessellate a portion of the area that corresponds to the travel-surface to define a plurality of cells, determine an orientation of each cell based on the ground-points within each cell, define a road-model of the travel-surface based on the orientation of the cells, and operate the host-vehicle in accordance with the road-model.