Determining specular reflectivity characteristics using LiDAR
AssigneeUatc, LLC
InventorScott Dylewski
Life of this patent
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Abstract
Aspects of the present disclosure involve systems, methods, and devices for determining specular reflectivity characteristics of objects using a Lidar system of an autonomous vehicle (AV) system. A method includes transmitting at least two light signals directed at a target object utilizing the Lidar system of the AV system. The method further includes determining at least two reflectivity values for the target object based on return signals corresponding to the at least two light signals. The method further includes classifying specular reflectivity characteristics of the target object based on a comparison of the first and second reflectivity value. The method further includes updating a motion plan for the AV system based on the specular reflectivity characteristics of the target object.
Claims20
A light detection and ranging (Lidar) system comprising:
- one or more Lidar sensor units configured to:
- transmit a first light signal and a second light signal towards an environment;
- and
- in response to the first light signal and the second light signal, respectively, receive a first return signal and a second return signal that are reflected by an object in the environment;
- and
- one or more processors configured to:
- determine a first reflectivity value associated with the object based on the first return signal and a second reflectivity value associated with the object based on the second return signal;
- determine a reflectivity characteristic of the object based on the first reflectivity value and the second reflectivity value;
- and
- provide the reflectivity characteristic of the object to an autonomous vehicle control system.
An autonomous vehicle control system configured to control a vehicle, the autonomous vehicle control system comprising:
- a light detection and ranging (Lidar) system comprising one or more Lidar sensor units configured to:
- transmit a first light signal and a second light signal towards an environment;
- and
- in response to the first light signal and the second light signal, respectively, receive a first return signal and a second return signal that are reflected by an object in the environment;
- and
- one or more processors configured to:
- determine a first reflectivity value associated with the object based on the first return signal and a second reflectivity value associated with the object based on the second return signal;
- determine a reflectivity characteristic of the object based on the first reflectivity value and the second reflectivity value;
- and
- update a motion plan for the vehicle based on the reflectivity characteristic, the motion plan comprising a motion trajectory for controlling the vehicle.
An autonomous vehicle comprising:
- a light detection and ranging (Lidar) system comprising one or more Lidar sensor units configured to:
- transmit a first light signal and a second light signal towards an environment;
- and
- in response to the first light signal and the second light signal, respectively, receive a first return signal and a second return signal that are reflected by an object in the environment;
- and
- one or more processors configured to:
- determine a first reflectivity value associated with the object based on the first return signal and a second reflectivity value associated with the object based on the second return signal;
- determine a reflectivity characteristic of the object based on the first reflectivity value and the second reflectivity value;
- and
- update a motion plan for the autonomous vehicle based on the reflectivity characteristic, the motion plan comprising a motion trajectory for controlling the autonomous vehicle.
Dependencies are inferred from the claim text.