Method and apparatus for determining velocity of obstacle, device and medium

Patent metadata

Field	Value
Publication number	US-11353476-B2
Application number	US-202017030838-A
Country	US
Kind code	B2
Filing date	Sep 24, 2020
Priority date	Mar 17, 2020
Publication date	Jun 7, 2022
Grant date	Jun 7, 2022

Abstract

Embodiments of the present disclosure provide a method and apparatus for determining a velocity of an obstacle, a device, and a medium. An implementation includes: acquiring a first point cloud data of the obstacle at a first time and a second point cloud data of the obstacle at a second time; registering the first point cloud data and the second point cloud data by moving the first point cloud data or the second point cloud data; and determining a moving velocity of the obstacle based on a distance between two data points in a registered data point pair.

First claim

What is claimed is:

1. A computer-implemented method for determining a velocity of an obstacle, the method comprising:
acquiring, by a sensor configured in a vehicle, a first point cloud data of the obstacle at a first time and a second point cloud data of the obstacle at a second time;
determining first point cloud distribution information of the first point cloud data and second point cloud distribution information of the second point cloud data, the determining comprising:
projecting the first point cloud data into grids of a set size in a first projection plane, to obtain first grid projection data;
in response to a number of data points projected into a grid being greater than 0, determining a distance parameter between the grid and an obstacle boundary as 0;
in response to the number of the data points projected into the grid is less than or equal to 0, searching, in a row direction, for a target grid closest to the grid and having a number of projected data points greater than 0;
determining the distance parameter of the grid based on a number of grids between the grid and the target grid; and
using the determined distance parameter as the first point cloud distribution information; and

registering the first point cloud data and the second point cloud data, based on the first point cloud distribution information and the second point cloud distribution information;
determining a moving velocity of the obstacle based on a distance between two data points in a registered data point pair; and
controlling autonomous driving of the vehicle based on the moving velocity of the obstacle.

2. The method according to claim 1 , wherein the determining first point cloud distribution information of the first point cloud data further comprises:
determining the first projection plane of the first point cloud data.

3. The method according to claim 2 , wherein the determining a first projection plane of the first point cloud data, comprises:
determining at least one projection direction according to at least one direction of the moving velocity;
combining a direction perpendicular to a ground with the at least one projection direction, respectively; and
constructing at least one first projection plane based on a direction pair obtained by the combining.

4. The method according to claim 1 , wherein the projecting the first point cloud data into the grids of the set size in the first projection plane to obtain the first grid projection data comprises:
converting the first point cloud data into a three-dimensional coordinate system, the three-dimensional coordinate system being with a centroid of the first point cloud data as an origin, and a plane constructed by two coordinate axes of the coordinate system being the first projection plane;
partitioning, with the origin of the coordinate system as a center, the first projection plane into the grids of the set size; and
projecting the converted first point cloud data into the partitioned grids to obtain the first grid projection data.

5. The method according to claim 1 , wherein the projecting the first point cloud data into the grids of the set size in the first projection plane to obtain the first grid projection data comprises:
determining a display scale of the first point cloud data in the grids based on a size of the first point cloud data and the size of the grid; and
projecting the first point cloud data into the grids to obtain the first grid projection data according to the display scale.

6. The method according to claim 1 , wherein the point cloud distribution information comprises at least one of: numbers of data points projected into the grids, distance parameters between the grids and an obstacle boundary, numbers of data points projected into columns of grids, or a length of grids in a row direction of the obstacle.

7. The method according to claim 1 , wherein the determining a moving velocity of the obstacle based on the distance between two data points in the registered data point pair comprises:
determining a target moving distance of the obstacle between the first time and the second time, based on the distance between the two data points in the registered data point pair; and
determining the moving velocity of the obstacle, based on the target moving distance.

8. An apparatus for determining a velocity of an obstacle, the apparatus comprising:
at least one processor; and
a memory storing instructions, the instructions when executed by the at least one processor, causing the at least one processor to perform operations, the operations comprising:
acquiring, by a sensor configured in a vehicle, a first point cloud data of an obstacle at a first time and a second point cloud data of the obstacle at a second time;
determining first point cloud distribution information of the first point cloud data and second point cloud distribution information of the second point cloud data, the determining comprising:
projecting the first point cloud data into grids of a set size in a first projection plane, to obtain first grid projection data;
in response to a number of data points projected into a grid being greater than 0, determining a distance parameter between the grid and an obstacle boundary as 0;
in response to the number of the data points projected into the grid is less than or equal to 0, searching, in a row direction, for a target grid closest to the grid and having a number of projected data points greater than 0;
determining the distance parameter of the grid based on a number of grids between the grid and the target grid; and
using the determined distance parameter as the first point cloud distribution information; and

registering the first point cloud data and the second point cloud data, based on the first point cloud distribution information and the second point cloud distribution information;
determining a moving velocity of the obstacle based on a distance between two data points in a registered data point pair; and
controlling autonomous driving of the vehicle based on the moving velocity of the obstacle.

9. The apparatus according to claim 8 , wherein the determining first point cloud distribution information of the first point cloud data further comprises:
determining the first projection plane of the first point cloud data.

10. The apparatus according to claim 9 , wherein the determining a first projection plane of the first point cloud data, comprises:
determining at least one projection direction according to at least one direction of the moving velocity;
combining a direction perpendicular to a ground with the at least one projection direction, respectively; and
constructing at least one first projection plane based on a direction pair obtained by the combining.

11. The apparatus according to claim 8 , wherein the projecting the first point cloud data into the grids of the set size in the first projection plane to obtain the first grid projection data comprises:
converting the first point cloud data into a three-dimensional coordinate system, the three-dimensional coordinate system being with a centroid of the first point cloud data as an origin, and a plane constructed by two coordinate axes of the coordinate system being the first projection plane;
partitioning, with the origin of the coordinate system as a center, the first projection plane into the grids of the set size; and
projecting the converted first point cloud data into the partitioned grids to obtain the first grid projection data.

12. The apparatus according to claim 8 , wherein the projecting the first point cloud data into the grids of the set size in the first projection plane to obtain th

Assignees

• Apollo Intelligent Driving Tech Beijing Co Ltd

Inventors

• Wang Hao
• Wang Liang
• Ma Yu

Classifications

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01S17/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01P21/02

  of speedometers · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G01P3/64 Primary

  Devices characterised by the determination of the time taken to traverse a fixed distance · CPC title