# US 12,118,798 B2 · Autonomous vehicle system for performing object detections using a logistic cylinder pedestrian model

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- Number: US 12,118,798 B2
- Document ID: US12118798B2
- Status: Granted
- Kind: B2
- Application number: 17/002,026
- Filed: 2020-08-25
- Published: 2022-03-03
- Granted: 2024-10-15
- Earliest claimed: 2020-08-25
- Assignees: Ford Global Technologies, LLC
- Applicants: Ford Global Technologies, LLC
- Inventors: Kevin L. Wyffels
- Web page: https://patentgrep.com/patent/US12118798B2

## CPC

- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G01S 17/89: for mapping or imaging
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/65: Following a desired speed profile
- G05D 1/81: Handing over between on-board automatic and on-board manual control
- G06F 18/2433: Single-class perspective, e.g. one-against-all classification; Novelty detection; Outlier detection
- G06V 10/763: {Non-hierarchical techniques, e.g. based on statistics of modelling distributions}
- G06V 40/103: {Static body considered as a whole, e.g. static pedestrian or occupant recognition}
- G01S 17/894: Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
- G01S 17/931: of land vehicles
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

A system obtains, from an autonomous vehicle, point cloud data, projects the point cloud data onto a two-dimensional plane, and determines an optimized center parameter value of an optimized circle and an optimized radius parameter value of the optimized circle that, collectively, maximizes a probability distribution of a center parameter and a radius parameter across the point cloud data. The system determines whether one or more of the data points of the point cloud data are located within the optimized circle. If there are, the system assigns a pedestrian class value to the point label of the data point. If there are data points of the point cloud data that are located outside of the optimized circle, they system assigns a non-pedestrian class value to the point label of the data point.

## Claims

### Claim 1

A method, comprising:
obtaining, by one or more sensors of an autonomous vehicle, point cloud data that includes one or more data points, wherein each data point of the one or more data points has a point label associated therewith;
defining, by an electronic device, an optimized circle in a two-dimensional plane by:
projecting the one or more data points of the point cloud data onto the two-dimensional plane, wherein each data point in the point cloud data is represented by a two-dimensional location and the point label; and
using the two-dimensional location of each data point to determine an optimized center parameter value of the optimized circle and an optimized radius parameter value of the optimized circle that, collectively, maximize a probability distribution of a center parameter and a radius parameter across the point cloud data;
determining whether one or more of the data points of the point cloud data are located within the optimized circle;
in response to determining that one or more of the data points of the point cloud data are located within the optimized circle, for each data point that is located within the optimized circle, assigning a pedestrian class value to the point label of the data point;
determining whether one or more of the data points of the point cloud data are located outside of the optimized circle;
in response to determining that one or more of the data points of the point cloud data are located outside of the optimized circle, for each data point that is located outside of the optimized circle, assigning a non-pedestrian class value to the point label of the data point; and
using, by the electronic device, the point cloud data to control one or more driving operations of the autonomous vehicle.

### Claim 2 (depends on 1)

The method of claim 1, wherein determining the optimized center parameter value and the optimized radius parameter value comprises one or more of the following:
utilizing a brute force search to yield the optimized center parameter value and the optimized radius parameter value; and
utilizing a gradient ascent algorithm to yield the optimized center parameter value and the optimized radius parameter value.

### Claim 3 (depends on 1)

The method of claim 1, wherein determining whether one or more of the data points of the point cloud data are located within the optimized circle comprises:
identifying a target data point from the one or more data points; and
determining a signed distance value associated with the target data point by:
determining a Euclidean norm of a difference between the two-dimensional location of the target data point and the optimized center parameter value to generate a first value, and
determining a difference between the first value and the optimized radius parameter value.

### Claim 4 (depends on 3)

The method of claim 3, further comprising:
in response to the difference between the first value and the optimized radius parameter value being negative, determining that the target data point is located within the optimized circle.

### Claim 5 (depends on 1)

The method of claim 1, wherein determining whether one or more of the data points of the point cloud data are located outside of the optimized circle comprises:
identifying a target data point from the one or more data points; and
determining a signed distance value associated with the target data point by:
determining a Euclidean norm of a difference between the two-dimensional location of the target data point and the optimized center parameter value to generate a first value, and
determining a difference between the first value and the optimized radius parameter value.

### Claim 6 (depends on 5)

The method of claim 5, further comprising:
in response to the difference between the first value and the optimized radius parameter value being positive, determining that the target data point is located outside of the optimized circle.

### Claim 7 (depends on 1)

The method of claim 1, further comprising:
in response to detecting an object associated with one or more of the data points to which the pedestrian class value has been assigned, executing one or more vehicle control instructions that cause adjustment of the one or more driving operations of the autonomous vehicle.

### Claim 8 (depends on 7)

The method of claim 7, wherein the one or more vehicle control instructions comprise one or more vehicle control instructions that cause the autonomous vehicle to reduce speed when the autonomous vehicle is within a certain distance from the object.

### Claim 9

A system, comprising:
an electronic device; and
a computer-readable storage medium comprising one or more programming instructions that, when executed, cause the electronic device to:
obtain, from one or more sensors of an autonomous vehicle, point cloud data that includes one or more data points, wherein each data point of the one or more data points has a point label associated therewith;
define an optimized circle in a two-dimensional plane by:
projecting the point cloud data onto the two-dimensional plane, wherein each data point in the point cloud data is represented by a two-dimensional location and the point label, and
using the two-dimensional location of each data point to determine an optimized center parameter value of the optimized circle and an optimized radius parameter value of the optimized circle that, collectively, maximize a probability distribution of a center parameter and a radius parameter across the point cloud data;
determine whether one or more of the data points of the point cloud data are located within the optimized circle;
in response to determining that one or more of the data points of the point cloud data are located within the optimized circle, for each data point that is located within the optimized circle, assign a pedestrian class value to the point label of the data point;
determine whether one or more of the data points of the point cloud data are located outside of the optimized circle;
in response to determining that one or more of the data points of the point cloud data are located outside of the optimized circle, for each data point that is located outside of the optimized circle, assign a non-pedestrian class value to the point label of the data point; and
use the point cloud data to control one or more driving operations of the autonomous vehicle.

### Claim 10 (depends on 9)

The system of claim 9, wherein the one or more programming instructions that, when executed, cause the electronic device to determine the optimized center parameter value and the optimized radius parameter value comprise one or more programming instructions that, when executed, cause the electronic device to perform one or more of the following:
utilize a brute force search to yield the optimized center parameter value and the optimized radius parameter value; and
utilize a gradient ascent algorithm to yield the optimized center parameter value and the optimized radius parameter value.

### Claim 11 (depends on 9)

The system of claim 9, wherein the one or more programming instructions that, when executed, cause the electronic device to determine whether one or more of the data points of the point cloud data are located within the optimized circle comprise one or more programming instructions that, when executed, cause the electronic device to:
identify a target data point from the one or more data points; and
determine a signed distance value associated with the target data point by:
determining a Euclidean norm of a difference between the two-dimensional location of the target data point and the optimized center parameter value to generate a first value, and
determining a difference between the first value and the optimized radius parameter value.

### Claim 12 (depends on 11)

The system of claim 11, wherein the computer-readable storage medium further comprises one or more programming instructions that, when executed, cause the electronic device to:
in response to the difference between the first value and the optimized radius parameter value being negative, determine that the target data point is located within the optimized circle.

### Claim 13 (depends on 9)

The system of claim 9, wherein the one or more programming instructions that, when executed, cause the electronic device to determine whether one or more of the data points of the point cloud data are located outside of the optimized circle comprise one or more programming instructions that, when executed, cause the electronic device to:
identify a target data point from the one or more data points; and
determine a signed distance value associated with the target data point by:
determining a Euclidean norm of a difference between the two-dimensional location of the target data point and the optimized center parameter value to generate a first value, and
determining a difference between the first value and the optimized radius parameter value.

### Claim 14 (depends on 13)

The system of claim 13, wherein the computer-readable storage medium further comprises one or more programming instructions that, when executed, cause the electronic device to:
in response to the difference between the first value and the optimized radius parameter value being positive, determine that the target data point is located outside of the optimized circle.

### Claim 15 (depends on 9)

The system of claim 9, wherein the computer-readable storage medium further comprises one or more programming instructions that, when executed, cause the electronic device to, in response to detecting an object associated with one or more of the data points to which the pedestrian class value has been assigned, execute one or more vehicle control instructions that cause adjustment of the one or more driving operations of the autonomous vehicle.

### Claim 16 (depends on 15)

The system of claim 15, wherein the one or more vehicle control instructions comprise one or more vehicle control instructions that cause the autonomous vehicle to reduce speed when the autonomous vehicle is within a certain distance from the object.

### Claim 17

A non-transitory computer-readable medium that stores instructions that, when executed by at least one computing device, will cause the at least one computing device to perform computing operations comprising:
obtaining point cloud data that includes one or more data points, wherein each data point of the one or more data points has a point label associated therewith;
defining an optimized circle in a two-dimensional plane by:
projecting the data points of the point cloud data onto the two-dimensional plane, where each data point in the point cloud data is represented by a two-dimensional location and the point label; and
using the two-dimensional location of each data point to determine an optimized center parameter value of the optimized circle and an optimized radius parameter value that, collectively, maximize a probability distribution of a center parameter and a radius parameter across the point cloud data;
determining whether one or more of the data points of the point cloud data are located within the optimized circle;
in response to determining that one or more of the data points of the point cloud data are located within the optimized circle, for each data point that is located within the optimized circle, assigning a pedestrian class value to the point label of the data point;
determining whether one or more of the data points of the point cloud data are located outside of the optimized circle;
in response to determining that one or more data points of the point cloud data are located outside of the optimized circle, for each data point that is located outside of the optimized circle, assigning a non-pedestrian class value to the point label of the data point; and
using the point cloud data to control one or more driving operations of an autonomous vehicle.

### Claim 18 (depends on 1)

The method of claim 1, wherein the one or more data points includes a first data point having a non-pedestrian point label, the method further comprising:
responsive to determining that the first data point is located within the optimized circle, revising the point label of the first data point to a pedestrian point label.