Road surface detection
AssigneeHERE Global B.V.
InventorsCharles Morcom, Zichen Li, David Doria
Life of this patent
Estimating the term…
Abstract
A method for road surface detection includes receiving ranging data including a plurality of ranging data points, extracting one or more ranging data points lying within a height range from the plurality of ranging data points, dividing the one or more ranging data points into one or more grid cells, setting a first horizontal position of a first cell point of a first grid cell of the one or more grid cells as being centered on the first grid cell, setting a first vertical position of the first cell point, and detecting the road surface based on the first vertical position and first horizontal position of the first cell point.
Claims19
A method for road surface detection, the method comprising:
- receiving, by a processor, ranging data including a plurality of ranging data points;
- extracting, by the processor, one or more ranging data points lying within a height range from the plurality of ranging data points;
- dividing, by the processor, the one or more ranging data points into one or more grid cells;
- determining, by the processor, a first ground height of the one or more ranging data points located in a first grid cell of the one or more grid cells;
- setting, by the processor, a first horizontal position of a first cell point of the first grid cell of the one or more grid cells as being centered on the first grid cell;
- setting, by the processor, a first vertical position of the first cell point;
- and
- detecting, by the processor, the road surface based on the first vertical position and first horizontal position of the first cell point.
A vehicle ranging system comprising:
- a ranging data interface configured to receive ranging data including a plurality of ranging data points;
- a ranging data processor configured to extract one or more ranging data points lying within a height range from the plurality of ranging data points and divide the one or more ranging data points into one or more grid cells;
- a statistics processor configured to determine a ground height of the one or more ranging data points located in the grid cell and determine a value of a median of a range of the one or more ranging data points centered around the ground height;
- and
- a grid mesh processor configured to set a horizontal position of a cell point of a grid cell of the one or more grid cells as being centered on the grid cell and set a vertical position of the cell point as the value of the median for the grid cell.
A non-transitory computer-readable medium including instructions that when executed by a processor are operable to:
- receive ranging data including a plurality of ranging data points;
- extract one or more ranging data points lying within a height range from the plurality of ranging data points;
- divide the one or more ranging data points into one or more grid cells;
- set a first horizontal position of a first cell point of a first grid cell of the one or more grid cells as being centered on the first grid cell;
- determine a first ground height of the one or more ranging data points located in the first grid cell;
- determine a value of a first median of a first range of the one or more ranging data points centered around the first ground height;
- and
- set a first vertical position of the first cell point as the value of the first median for the first grid cell.
Dependencies are inferred from the claim text.