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US 12,466,427 B2Granted
Curb-based feature extraction for localization and lane detection using radar
AssigneeMotional AD LLC
InventorsKiat Choon Teo, Sankara Mangaiahgari
Life of this patent
Estimating the term…
Abstract
Provided are methods, systems, and computer program products for lane keep tracking and/or localization of a vehicle using a radar to detect metallic particles in paint applied to lane markings or curb markings. An example method may include: causing a radar system of a vehicle to output radio waves; receiving a radar image from the radar system corresponding to returned radio waves; determining a portion of the radar image includes lane or curb markings, wherein the lane or curb markings are embedded with metallic particles; and determining a location of the vehicle based at least in part on the determined portion of the radar image that includes the lane or curb markings.
Claims20
A method, comprising:
- causing a radio detection and ranging (radar) system of a vehicle to output radio waves;
- receiving a first radar image from the radar system corresponding to radio waves detected by the radar system in response to the outputted radio waves;
- identifying a portion of the first radar image that includes a curb and curb markings corresponding to the curb, based on metallic particles embedded within paint on the curb, wherein identifying the portion of the first radar image that includes the curb and the curb markings comprises:
- generating a 3D point cloud from the first radar image based on a plurality of metallic particles within a portion of the paint,
- determining a first 3D shape based on the 3D point cloud,
- extracting a curb feature from the first 3D shape, wherein the curb feature includes a second 3D shape of at least one curb marking of the curb markings,
- generating a signature based on the first 3D shape and the curb feature,
- comparing the generated signature with a plurality of signatures, wherein comparing the generated signature with the plurality of signatures comprises comparing the first 3D shape with a plurality of 3D shapes and the curb feature with a plurality of curb features, and
- determining, based on the comparing, that the generated signature matches at least one of the plurality of signatures, wherein the at least one of the plurality of signatures corresponds to a second radar image of the curb markings generated based on the metallic particles embedded within the paint on the curb;
- and
- determining a location of the vehicle based on the identified portion of the first radar image that includes the curb markings.
8 more elements
A system, comprising:
- at least one processor, and
- at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to:
- cause a radio detection and ranging (radar) system of a vehicle to output radio waves;
- receive a first radar image from the radar system corresponding to radio waves detected by the radar system in response to the outputted radio waves;
- identify a portion of the first radar image that includes a curb and curb markings corresponding to the curb, based on metallic particles embedded within paint on the curb, wherein to identify the portion of the first radar image that includes the curb and the curb markings, the instructions further cause the at least one processor to:
- generate a 3D point cloud from the first radar image based on a plurality of metallic particles within a portion of the paint,
- determine a first 3D shape based on the 3D point cloud,
- extract a curb feature from the first 3D shape, wherein the curb feature includes a second 3D shape of at least one curb marking of the curb markings,
- generate a signature based on the first 3D shape and the curb feature,
- compare the generated signature with a plurality of signatures, wherein to compare the generated signature with the plurality of signatures, the instructions, when executed by the at least one processor, further cause the at least one processor to compare the first 3D shape with a plurality of 3D shapes and the curb feature with a plurality of curb features, and
- determine, based on the comparison of the generated signature with the plurality of signatures, that the generated signature matches at least one of the plurality of signatures, wherein the at least one of the plurality of signatures corresponds to a second radar image of the curb markings generated based on the metallic particles embedded within the paint on the curb;
- and
- determine a location of the vehicle based on the identified portion of the first radar image that includes the curb markings.
10 more elements
At least one non-transitory storage media storing instructions that, when executed by at least one processor, cause the at least one processor to:
- cause a radio detection and ranging (radar) system of a vehicle to output radio waves;
- receive a first radar image from the radar system corresponding to radio waves detected by the radar system in response to the outputted radio waves;
- identify a portion of the first radar image that includes a curb and curb markings corresponding to the curb, based on metallic particles embedded within paint on the curb, wherein to identify the portion of the first radar image that includes the curb and the curb markings, the instructions further cause the at least one processor to:
- generate a 3D point cloud from the first radar image based on a plurality of metallic particles within a portion of paint,
- determine a first 3D shape based on the 3D point cloud,
- extract a curb feature from the first 3D shape, wherein the curb feature includes a second 3D shape of at least one curb marking of the curb markings,
- generate a signature based on the first 3D shape and the curb feature,
- compare the generated signature with a plurality of signatures, wherein to compare the generated signature with the plurality of signatures, the instructions, when executed by the at least one processor, further cause the at least one processor to compare the first 3D shape with a plurality of 3D shapes and the curb feature with a plurality of curb features, and
- determine, based on the comparison of the generated signature with the plurality of signatures, that the generated signature matches at least one of the plurality of signatures, wherein the at least one of the plurality of signatures corresponds to a second radar image of the curb markings generated based on the metallic particles embedded within the paint on the curb;
- and
- determine a location of the vehicle based on the identified portion of the first radar image that includes the curb markings.
8 more elements
Dependencies are inferred from the claim text.