公开(公告)号：US09315192B1

公开(公告)日：2016-04-19

申请号：US14041121

申请日：2013-09-30

Applicant: Google Inc.

Inventor： Jiajun Zhu ,  Peter Morton

IPC: G08G1/00 ,  B60W30/18 ,  G06K9/62 ,  G06T11/00 ,  G05D1/02

CPC classification number: B60W30/18 ,  G05D1/0246 ,  G06K9/00369 ,  G06K9/00805 ,  G06K9/6217 ,  G06T11/00

Abstract: An autonomous vehicle configured to detect and avoid pedestrians may use information from LIDAR or other range-based sensors. An example method involves: (a) receiving, at a computing device, range data corresponding to a plurality of objects in an environment of a vehicle, wherein the range data comprises a plurality of first data points; (b) generating a spherical data set comprising a plurality of second data points, wherein spherical coordinates for each second data point are generated based on a corresponding one of the first plurality of data points; and (c) determining a two-dimensional map based on the spherical data set comprising the plurality of second data points, wherein the two-dimensional map comprises a plurality of pixels, wherein each pixel of the plurality of pixels is indicative of a plurality of parameters corresponding to the plurality of objects in the environment.

Abstract translation: 配置成检测和避免行人的自主车辆可以使用来自LIDAR或其他基于范围的传感器的信息。 示例性方法包括：（a）在计算设备处接收与车辆环境中的多个对象相对应的范围数据，其中所述距离数据包括多个第一数据点; （b）产生包括多个第二数据点的球面数据集，其中基于所述第一多个数据点中的相应一个数据点生成每个第二数据点的球坐标; 以及（c）基于包括所述多个第二数据点的球面数据集来确定二维图，其中所述二维图包括多个像素，其中所述多个像素中的每个像素指示多个 对应于环境中的多个对象的参数。