Occluded obstacle classification for vehicles

Patent metadata

Field	Value
Publication number	US-10137890-B2
Application number	US-201615195760-A
Country	US
Kind code	B2
Filing date	Jun 28, 2016
Priority date	Jun 28, 2016
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

Obstacles located in an external environment of a vehicle can be classified. At least a portion of the external environment can be sensed using one or more sensors to acquire sensor data. An obstacle candidate can be identified based on the acquired sensor data. An occlusion status for the identified obstacle candidate can be determined. The occlusion status can be a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate. A classification for the obstacle candidate can be determined based on the determined occlusion status. A driving maneuver for the vehicle can be determined at least partially based on the determined classification for the obstacle candidate. The vehicle can be caused to implement the determined driving maneuver. The vehicle can be an autonomous vehicle.

First claim

What is claimed is:

1. An obstacle classification method for a vehicle, the method comprising:
acquiring, using one or more sensors, sensor data of at least a portion of an external environment of the vehicle;
identifying, using a processor, an obstacle candidate based on the acquired sensor data;
determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate, the acquired sensor data for the obstacle candidate that is occluded being defined by any acquired sensor data points for the obstacle candidate that are substantially adjacent to acquired sensor data points for one or more other obstacle candidates;
determining a classification for the obstacle candidate based on the determined occlusion status;
determining a driving maneuver for the vehicle at least partially based on the determined classification for the obstacle candidate; and
causing the vehicle to implement the determined driving maneuver.

2. The method of claim 1 , wherein determining a classification for the obstacle candidate based on the determined occlusion status includes:
comparing the determined occlusion status to a first occlusion status threshold; and
if the determined occlusion status is above the first occlusion status threshold, determining the classification for the obstacle candidate as being indeterminate.

3. The method of claim 2 , wherein, if the classification for the obstacle candidate is determined as being indeterminate, the driving maneuver is a conservative driving maneuver.

4. The method of claim 1 , wherein the one or more sensors are one or more LIDAR sensors, and wherein the acquired sensor data is a plurality of object data points.

5. The method of claim 1 , further including determining whether the acquired sensor data for the obstacle candidate is occluded.

6. The method of claim 5 , wherein determining whether the acquired sensor data for the obstacle candidate is occluded is performed using ray tracing.

7. An obstacle classification method for a vehicle, the method comprising:
acquiring, using one or more sensors, sensor data of at least a portion of an external environment of the vehicle;
identifying, using a processor, an obstacle candidate based on the acquired sensor data;
determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate;
determining a classification for the obstacle candidate based on the determined occlusion status, the determining including:
comparing the determined occlusion status to a first occlusion status threshold;
if the determined occlusion status is above the first occlusion status threshold, determining the classification for the obstacle candidate as being indeterminate;
if the determined occlusion status is below the first occlusion status threshold, comparing the determined occlusion status to a second occlusion status threshold, the second occlusion status threshold being less than the first occlusion status threshold; and
if the determined occlusion status is above the second occlusion status threshold, determining the a classification for the obstacle candidate using one or more partially occluded obstacle models;

determining a driving maneuver for the vehicle at least partially based on the determined classification for the obstacle candidate; and
causing the vehicle to implement the determined driving maneuver.

8. The method of claim 7 , wherein, if the obstacle candidate matches a partially occluded obstacle model, determining the classification for the obstacle candidate is based on a predetermined classification associated with the partially occluded obstacle model that the obstacle candidate matches.

9. The method of claim 7 , further including:
if the determined occlusion status is below the second occlusion status threshold, determining the classification for the obstacle candidate using one or more full visibility obstacle models.

10. The method of claim 7 , wherein the acquired sensor data for the obstacle candidate that is occluded includes at least all border sensor data for the obstacle candidate.

11. An obstacle classification system for a vehicle, the system comprising:
a sensor system including one or more sensors, the one or more sensors being configured to acquire sensor data of at least a portion of an external environment of the vehicle;
one or more actuators; and
a processor operatively connected to the sensor system, the processor operatively connected to the one or more actuators, the processor being programmed to initiate executable operations comprising:
identifying an obstacle candidate based on the acquired sensor data;
determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate, the acquired sensor data for the obstacle candidate that is occluded being defined by any acquired sensor data points for the obstacle candidate that are substantially adjacent to acquired sensor data points for one or more other obstacle candidates;
determining a classification for the obstacle candidate based on the determined occlusion status;
determining a driving maneuver for the vehicle at least partially based on the determined classification for the obstacle candidate; and
activating one or more actuators to cause the vehicle to implement the determined driving maneuver.

12. The system of claim 11 , wherein determining a classification for the obstacle candidate based on the determined occlusion status includes:
comparing the determined occlusion status to a first occlusion status threshold; and
if the determined occlusion status is above the first occlusion status threshold, determining the classification for the obstacle candidate as being indeterminate.

13. The system of claim 12 , wherein, if the classification for the obstacle candidate is determined as being indeterminate, the driving maneuver is a conservative driving maneuver.

14. The system of claim 11 , wherein the one or more sensors are one or more LIDAR sensors, and wherein the acquired sensor data is a plurality of object data points.

15. The system of claim 11 , wherein the executable operations further include:
determining whether the acquired sensor data for the obstacle candidate is occluded.

16. The system of claim 15 , wherein determining whether the acquired sensor data for the obstacle candidate is occluded is performed using ray tracing.

17. An obstacle classification system for a vehicle, the system comprising:
a sensor system including one or more sensors, the one or more sensors being configured to acquire sensor data of at least a portion of an external environment of the vehicle;
one or more actuators; and
a processor operatively connected to the sensor system, the processor operatively connected to the one or more actuators, the processor being programmed to initiate executable operations comprising:
identifying an obstacle candidate based on the acquired sensor data;
determining an occlusion status for the identified obstacle candidate, the occlusion status being a ratio of acquired sensor data for the obstacle candidate that is occluded to all acquired sensor data for the obstacle candidate;
determining a classificati

Assignees

• Toyota Eng & Mfg North America

Inventors

• Sakai Katsuhiro
• Mei Xue
• Kamata Nobuhide

Classifications

• B60W30/18 Primary

  Propelling the vehicle · CPC title

• G06V10/75

  Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title