Atmospheric property estimation system and method in dynamic environments using LIDAR
AssigneeGM Global Technology Operations LLC
InventorsBrent N Bacchus, Donald K Grimm
Life of this patent
Estimating the term…
Abstract
Systems and methods are provided for estimating atmospheric properties using a LIDAR sensor. A control system includes a LIDAR sensor configured to detect a distance to an object, and an intensity of light reflected by the object. A controller's a target selection module determines whether the object is a target for use in estimating the atmospheric properties. A data collection module collects values of the distance and the intensity as detected by the LIDAR sensor. The atmospheric properties are determined based on the values of the distance and the intensity. In response to the determined atmospheric properties, the actuator is operated to effect an action.
Claims18
A system for estimating atmospheric properties in an environment, the system comprising:
- a light detection and ranging (LIDAR) sensor configured to detect, by a signal, a distance to an object, and an intensity of light reflected by the object;
- an actuator;
- and
- a controller configured to:
- determine, whether the object is a viable target for use in estimating the atmospheric properties, wherein a viable target meets selected criteria for determining optical properties of the object, including rejecting, based on a homogenous variation of the reflected light intensity above a threshold, the object as a viable target;
- collect values of the distance and the intensity for the object as detected by the LIDAR sensor;
- compute, based on a return of the signal, the optical properties including a reflectivity, of the object;
- track, after determining the optical properties, the object over time;
- determine the atmospheric properties, based on the values of the distance and the intensity;
- and
- operate, in response to the determined atmospheric properties, the actuator to effect an action.
A method for estimating atmospheric properties in an environment, the method comprising:
- detecting, by a light detection and ranging (LIDAR) sensor using a signal, a distance to an object, and an intensity of light reflected by the object;
- determining, by a controller, whether the object is a viable target for use in estimating the atmospheric properties, wherein a viable target meets selected criteria for determining optical properties of the object, including rejecting, based on a homogenous variation of the reflected light intensity above a threshold, the object as a viable target;
- collecting, by the controller, values of the distance and the intensity for the object as detected by the LIDAR sensor;
- computing, by the controller and based on a return of the signal, the optical properties including a reflectivity, of the object;
- tracking, by the controller using the LIDAR sensor, after determining the optical properties, the object over time;
- determining the atmospheric properties, based on the values of the distance and the intensity;
- and
- operating, in response to the determined atmospheric properties, an actuator to effect an action.
A vehicle including a system for estimating atmospheric properties in an environment, the vehicle comprising:
- a light detection and ranging (LIDAR) sensor configured to detect a distance to an object, and an intensity of light reflected by the object;
- an actuator mounted on the vehicle;
- and
- a controller carried by the vehicle and configured to:
- determine whether the object is a viable target for use in estimating the atmospheric properties, including whether the object has a reflected light intensity variation below a threshold;
- collect data on the object including values of the distance and the intensity detected by the LIDAR sensor;
- compute, using the data collected on the object, object properties including a reflectivity of the object, by solving a relationship between the intensity, the distance, and the reflectivity of the object;
- determine the atmospheric properties, based on the object properties;
- and
- operate, in response to the determined atmospheric properties, the actuator to effect an action of the vehicle.
Dependencies are inferred from the claim text.