公开(公告)号：US20220155455A1

公开(公告)日：2022-05-19

申请号：US17098702

申请日：2020-11-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Jacqueline Staiger ,  Hyukseong Kwon ,  Amit Agarwal ,  Rajan Bhattacharyya

IPC: G01S17/931 ,  G06T7/11 ,  G06T7/70 ,  G06K9/00 ,  G01S17/89 ,  G05D1/02 ,  B60W60/00

Abstract: A system ground surface projection for autonomous driving of a host vehicle is provided. The system includes a LIDAR device of the host vehicle and a computerized device. The computerized device is operable to monitor data from the LIDAR device including a total point cloud. The total point cloud describes an actual ground surface in the operating environment of the host vehicle. The device is further operable to segment the total point cloud into a plurality of local point cloud and, for each of the local point clouds, determine a local polygon estimating a portion of the actual ground surface. The device is further operable to assemble the local polygons into a total estimated ground surface and navigate the host vehicle based upon the total estimated ground surface.