Using obstacle clearance to measure precise lateral

Patent metadata

Field	Value
Publication number	US-9767366-B1
Application number	US-201414452860-A
Country	US
Kind code	B1
Filing date	Aug 6, 2014
Priority date	Aug 6, 2014
Publication date	Sep 19, 2017
Grant date	Sep 19, 2017

Abstract

A system and method is provided for identifying an object along a road, where the object may be represented by a bounding box, and projecting a set of obstacle points within the bounding box corresponding to the identified object. In one aspect, a two-dimensional plane oriented perpendicular to a direction of the movement of the vehicle may be identified. In another aspect, the areas of the plane that may be occupied based on the set of obstacle points may be determined to generate a contour of the identified object. Thereafter, the height profiles of the identified object and the vehicle may be determined and identified, respectively. Based on the height profiles, a minimum clearance may be determined.

First claim

The invention claimed is:

1. A method comprising:
identifying, using one or more computing devices, an object along a road, wherein the object is represented by a bounding box;
projecting, using the one or more computing devices, a set of obstacle points within the bounding box corresponding to the identified object;
identifying, using the one or more computing devices, a two-dimensional plane oriented perpendicular to a direction of movement of the vehicle;
determining, using the one or more computing devices, which areas of the two-dimensional plane are occupied based on the set of obstacle points to generate a contour of the identified object;
determining, using the one or more computing devices, a height profile of the identified object using the contour of the identified object;
identifying, using the one or more computing devices, a height profile of the vehicle including a set of lateral distances from a center of the vehicle to a side of the vehicle at a plurality of different height measurements; and
determining, using the one or more computing devices, a minimum clearance based on the height profile of the identified object and the height profile of the vehicle.

2. The method of claim 1 , wherein the height profile of the identified object is a set of lateral distance measurements from an edge of a bounding box of the object to the contour of the identified object at a plurality of different height measurements.

3. The method of claim 1 , further comprising:
determining, using the one or more computing devices, a set of clearance measurements by taking differences between the height profile of the identified object and the height profile of the vehicle; and
determining, using the one or more computing devices, the minimum clearance based on the set of clearance measurements.

4. The method of claim 3 , wherein the minimum clearance is the smallest clearance measurement from the set of clearance measurements.

5. The method of claim 1 , further comprising:
determining, using the one or more computing devices, whether the minimum clearance is greater than a predetermined threshold clearance; and
based on the determination, maneuvering, using the one or more computing devices, the vehicle with respect to the identified object.

6. The method of claim 1 , wherein the two-dimensional plane is a cross-section of the bounding box corresponding to the identified object.

7. The method of claim 1 , wherein the contour is based at least in part on a plurality of occupied grid cells of a grid, such that the plurality of occupied grid cells correspond to the occupied areas of the two-dimensional plane.

8. The method of claim 1 , wherein the set of lateral distances from the center of the vehicle form a contour of the vehicle and wherein height profile of the identified object is a set of lateral distance measurements from the contour of the vehicle to the contour of the identified object at a plurality of different height measurements.

9. A system comprising:
a memory;
one or more computing devices, each of the one or more computing devices having one or more processors, the one or more computing devices being coupled to the memory;
wherein the one or more computing devices are configured to:
identify an object along a road, wherein the object is represented by a bounding box;
project a set of obstacle points within the bounding box corresponding to the identified object;
identify a two-dimensional plane oriented perpendicular to a direction of movement of the vehicle;
determine which areas of the two-dimensional plane are occupied based on the set of obstacle points to generate a contour of the identified object;
determine a height profile of the identified object based on the contour of the identified object;
identify a height profile of the vehicle including a set of lateral distances from a center of the vehicle to a side of the vehicle at a plurality of different height measurements; and
determine a minimum clearance based on the height profile of the identified object and the height profile of the vehicle.

10. The system of claim 9 , wherein the height profile of the identified object is a set of lateral distance measurements from an edge of a bounding box of the object to the contour of the identified object at a plurality of different height measurements.

11. The system of claim 10 , wherein the one or more computing devices are further configured to: determine a set of clearance measurements by taking differences between the height profile of the identified object and the height profile of the vehicle; and determine the minimum clearance based on the set of clearance measurements.

12. The system of claim 11 , wherein the minimum clearance is the smallest clearance measurement from the set of clearance measurements.

13. The system of claim 9 , wherein the one or more computing devices are further configured to:
determine whether the minimum clearance is greater than a predetermined threshold clearance; and
based on the determination, maneuver the vehicle with respect to the identified object.

14. The system of claim 9 , wherein the two-dimensional plane is a slice of the bounding box corresponding to the identified object.

15. The system of claim 9 , wherein the contour is based at least in part on a plurality of occupied grid cells of a grid, such that the plurality of occupied grid cells correspond to the occupied areas of the two-dimensional plane.

16. The system of claim 9 , further comprising the vehicle.

17. The system of claim 9 , wherein the set of lateral distances from the center of the vehicle form a contour of the vehicle and wherein height profile of the identified object is a set of lateral distance measurements from the contour of the vehicle to the contour of the identified object at a plurality of different height measurements.

18. A non-transitory, tangible computer-readable medium on which instructions are stored, the instructions, when executed by one or more computing devices perform a method, the method comprising:
identifying an object along a road, wherein the object is represented by a bounding box;
projecting a set of obstacle points within the bounding box corresponding to the identified object;
identifying a two-dimensional plane oriented perpendicular to a direction of movement of the vehicle;
determining which areas of the two-dimensional plane are occupied based on the set of obstacle points to generate a contour of the identified object;
determining a height profile of the identified object based on the contour of the identified object;
identifying a height profile of the vehicle including a set of lateral distances from a center of the vehicle to a side of the vehicle at a plurality of different height measurements; and
determining a minimum clearance based on the height profile of the identified object and the height profile of the vehicle.

19. The non-transitory, tangible computer-readable medium of claim 18 , wherein the set of lateral distances from the center of the vehicle form a contour of the vehicle and wherein height profile of the identified object is a set of lateral distance measurements from the contour of the vehicle to the contour of the identified object at a plurality of different height measurements.

20. The non-transitory, tangible computer-readable medium of claim 18 , wherein the height profile of the identified object is a set of lateral distance measurements form from an edge of a bounding box of the object to the contour

Assignees

• Google Inc
• Waymo Llc

Inventors

• Fairfield Nathaniel
• Mahon Ian James

Classifications

• G06V20/58 Primary

  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

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title

• G06V10/752

  Contour matching · CPC title

• G06K9/00805 Primary

  Physics · mapped topic

• G05D1/0238

  using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93) · CPC title