Vehicle system lidar fog detection and compensation
AssigneeZoox, Inc.
InventorArvind Srivastav
Life of this patent
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Abstract
Techniques for detecting and determining a density for a non-impeding object based on correlation between radar and lidar returns are described herein. The techniques provide for receiving lidar data and radar data from a vehicle system operating in an environment. Portions of the lidar data and radar data are determined based on being associated with moving objects in the environment. The portions are then correlated to determine a similarity between the radar and lidar data. The similarity may then be used to determine an indication and density of the non-impeding object in the environment and cause the vehicle to operate within the environment accordingly.
Claims20
A system comprising:
- one or more processors;
- and
- one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
- receiving radar data of an environment;
- receiving lidar data of the environment;
- determining, based at least in part on comparing the radar data and the lidar data, a presence of a non-impeding object in the environment;
- determining, based at least in part on the presence of the non-impeding object, an effective range for a lidar sensor;
- and
- controlling a vehicle based at least in part on the effective range.
One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause a system to perform operations comprising:
- receiving radar data of an environment;
- receiving lidar data of the environment;
- determining, based at least in part on comparing the radar data and the lidar data, a presence of a non-impeding object in the environment;
- and
- controlling a vehicle based at least in part on removing a portion of the lidar data associated with the non-impeding object.
A method comprising:
- receiving radar data of an environment;
- receiving lidar data of the environment;
- determining, based at least in part on comparing the radar data and the lidar data, a presence of a non-impeding object in the environment;
- determining, based at least in part on the presence of the non-impeding object, an effective range for a lidar sensor;
- and
- controlling a vehicle based at least in part on the effective range.
Dependencies are inferred from the claim text.