公开(公告)号：US20240329225A1

公开(公告)日：2024-10-03

申请号：US18190437

申请日：2023-03-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Michael Baltaxe ,  Michael Slutsky ,  Ariel Rubanenko ,  Dan Levi

IPC: G01S7/539 ,  G01S15/89

CPC classification number: G01S7/539 ,  G01S15/89 ,  G01S2015/938

Abstract: A disclosure is presented for estimating height of an object using ultrasonic sensors carried onboard a vehicle. The height may be estimated by generating ultrasonic distance measurements based on a time of flight associated with ultrasonic reflections detected with the ultrasonic sensors, generating a three-dimensional (3D) occupancy grid to volumetrically represent at least a portion of an environment within field of view of the ultrasonic sensors, the 3D occupancy grid including a plurality of volumetric pixels (voxels), assigning a count value to each of the voxels based on the distance measurements, and estimating the height according to a relative spatial relationship between the vehicle and the voxel having the count value with a greatest value.