Obstacle perception calibration system for autonomous driving vehicles

Patent metadata

Field	Value
Publication number	US-11352010-B2
Application number	US-201916588693-A
Country	US
Kind code	B2
Filing date	Sep 30, 2019
Priority date	Sep 30, 2019
Publication date	Jun 7, 2022
Grant date	Jun 7, 2022

Abstract

In one embodiment, an autonomous driving system of an autonomous driving vehicle perceives a driving environment surrounding the autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment. The system detects a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle. The system further calibrates the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle. The system then controls the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.

First claim

What is claimed is:

1. A computer-implemented method for calibrating a perception system of an autonomous driving vehicle, the method comprising:
perceiving a driving environment surrounding an autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment;
detecting a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle;
calibrating the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle; and
controlling the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.

2. The method of claim 1 , wherein calibrating the perceived obstacle includes determining a shape of the perceived obstacle based on the calibrated perceived obstacle.

3. The method of claim 1 , wherein the sensor on the autonomous driving vehicle includes an inertial measurement unit (IMU), a global positioning system (GPS), a tire pressure sensor, or a vehicle suspension sensor.

4. The method of claim 3 , wherein perceiving the obstacle includes detecting the obstacle using a light detection and range (LIDAR) device and a camera.

5. The method of claim 1 , wherein calibrating the perceived obstacle based on the vertical acceleration comprises:
obtaining a first image captured at a first point in time by a first sensor of the autonomous driving vehicle, the first image capturing at least a portion of the obstacle;
determining a second point in time in response to detecting the vertical acceleration; and
calibrating the obstacle based on the first image and a second image captured at the second point in time, the second image capturing at least a portion of the obstacle.

6. The method of claim 5 , wherein the first image and the second image are captured by at least one of a LIDAR device or a camera, and wherein the vertical acceleration is detected by at least one of an IMU or a GPS device.

7. The method of claim 5 , wherein the second image contains at least one feature of the obstacle that is absent from the first image, and wherein the at least one feature of the second image is utilized to compensate the first image to determine a shape of the obstacle.

8. The method of claim 7 , wherein the first image represents a two-dimensional (2D) view of the obstacle and the second image includes an additional edge of the obstacle representing a depth of the obstacle that is absent from the first image.

9. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform a method for calibrating a perception system of an autonomous driving vehicle, the method comprising:
perceiving a driving environment surrounding an autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment;
detecting a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle;
calibrating the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle; and
controlling the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.

10. The machine-readable medium of claim 9 , wherein calibrating the perceived obstacle includes determining a shape of the perceived obstacle based on the calibrated perceived obstacle.

11. The machine-readable medium of claim 9 , wherein the sensor on the autonomous driving vehicle includes an inertial measurement unit (IMU), a global positioning system (GPS), a tire pressure sensor, or a vehicle suspension sensor.

12. The machine-readable medium of claim 11 , wherein perceiving the obstacle includes detecting the obstacle using a light detection and range (LIDAR) device and a camera.

13. The machine-readable medium of claim 9 , wherein calibrating the perceived obstacle based on the vertical acceleration comprises:
obtaining a first image captured at a first point in time by a first sensor of the autonomous driving vehicle, the first image capturing at least a portion of the obstacle;
determining a second point in time in response to detecting the vertical acceleration; and
calibrating the obstacle based on the first image and a second image captured at the second point in time, the second image capturing at least a portion of the obstacle.

14. The machine-readable medium of claim 13 , wherein the first image and the second image are captured by at least one of a LIDAR device or a camera, and wherein the vertical acceleration is detected by at least one of an IMU or a GPS device.

15. The machine-readable medium of claim 13 , wherein the second image contains at least one feature of the obstacle that is absent from the first image, and wherein the at least one feature of the second image is utilized to compensate the first image to determine a shape of the obstacle.

16. The machine-readable medium of claim 15 , wherein the first image represents a two-dimensional (2D) view of the obstacle and the second image includes an additional edge of the obstacle representing a depth of the obstacle that is absent from the first image.

17. A data processing system, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform a method for calibrating a perception system of an autonomous driving vehicle, the method comprising:
perceiving a driving environment surrounding an autonomous driving vehicle traveling along a path, including perceiving an obstacle in the driving environment,
detecting a vertical acceleration of the autonomous driving vehicle based on sensor data obtained from a sensor on the autonomous driving vehicle,
calibrating the perceived obstacle based on the vertical acceleration of the autonomous driving vehicle, and
controlling the autonomous driving vehicle to navigate through the driving environment in view of the calibrated perceived obstacle.

18. The system of claim 17 , wherein calibrating the perceived obstacle includes determining a shape of the perceived obstacle based on the calibrated perceived obstacle.

19. The system of claim 17 , wherein the sensor on the autonomous driving vehicle includes an inertial measurement unit (IMU), a global positioning system (GPS), a tire pressure sensor, or a vehicle suspension sensor.

20. The system of claim 19 , wherein perceiving the obstacle includes detecting the obstacle using a light detection and range (LIDAR) device and a camera.

Assignees

• Baidu Usa Llc
• Baidu Com Times Tech Beijing Co Ltd

Inventors

• Jiang Shu
• Luo Qi
• Miao Jinghao
• Hu Jiangtao
• Xu Jiaxuan
• Wang Jingao
• Wang Yu
• Zhou Jinyun
• He Runxin

Classifications

• B60W10/20

  including control of steering systems · CPC title

• B60W2710/20

  Steering systems · CPC title

• B60W2552/50

  Barriers · CPC title

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• B60W40/02 Primary

  related to ambient conditions · CPC title