Six-dimensional point cloud system for a vehicle

Patent metadata

Field	Value
Publication number	US-10139833-B1
Application number	US-201715597994-A
Country	US
Kind code	B1
Filing date	May 17, 2017
Priority date	May 17, 2017
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

A six-dimensional point cloud system for a vehicle is provide which may, for example calculate, for each point in a point cloud, a three-dimensional velocity of the respective point in the point cloud, segment each point in the point cloud into one or more clusters of points, compute a kinematic state of each of the one or more clusters of points, determine an object type associated with each of the one or more cluster, and determine a threat level and a response command based upon the determined object type and the kinematic state of each of the one or more clusters of points.

First claim

What is claimed is:

1. A vehicle, comprising:
at least one control system configured to control the vehicle; and
a six-dimensional point cloud system, comprising:
a multiple input multiple output radar system;
a memory; and
a processor communicatively connected to the multiple input multiple output radar system and the memory, the processor configured to:
receive, from the multiple input multiple output radar system, a current data frame comprising a point cloud, the point cloud including three-dimensional position information and Doppler data corresponding to an object detected by the multiple input multiple output radar system at each point in the point cloud;
calculate, for each point in the point cloud, a three-dimensional velocity of the respective point in the point cloud based upon the three-dimensional position information and Doppler data associated with the point in the current data frame and data from a previous data frame stored in them memory;
segment each point in the point cloud into one or more clusters of points based upon the three-dimensional position information associated with each respective point and the calculated three-dimensional velocity of each respective point;
compute a kinematic state of each of the one or more clusters of points, the kinematic state including a center of mass for the respective cluster of points, a reference velocity for the respective cluster of points, an angular velocity for the respective cluster of points, and contour points for the respective cluster of points;
determine an object type associated with each of the one or more cluster; and
determine a threat level and a response command based upon the determined object type and the kinematic state of each of the one or more clusters of points, wherein the response command causes the at least one control system to control the vehicle.

2. The vehicle of claim 1 , wherein the processor is further configured to classify each point in the point cloud as either stationary or dynamic based upon the three dimensional velocity of the respective point of the point cloud.

3. The vehicle of claim 1 , wherein the processor is further configured to determine a misalignment angle of the multiple input multiple output radar system based upon data associated with one or more stationary points in the point cloud.

4. The vehicle of claim 1 , wherein the processor is further configured to calculate the three-dimensional velocity ν′k of each respective point kin the point cloud according to:

v
′

⁢
k

=

argmin
vk

⁢

∑
j

Nk

⁢

(

a
jk

⁡

(

(



s
k

-

(

m
j

+

v
k

⁢
Δ
⁢

⁢
t

)



)

2

σ
1
2

)

+

(

(



d
k

-

(

v
k

·

n
k

)



)

2

σ
2
2

)

)

Assignees

• Gm Global Tech Operations Llc

Inventors

• Zeng Shuqing
• Bilik Igal

Classifications

• G01S7/4026

  Antenna boresight · CPC title

• G01S7/41 Primary

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title

• B60T2201/08

  Lane monitoring; Lane Keeping Systems · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S7/415

  Identification of targets based on measurements of movement associated with the target · CPC title