Determining a lens coverage condition of a light-based scanning device arranged in a vehicle
AssigneeVolvo Autonomous Solutions AB
InventorViktor Gustavsson
Life of this patent
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Abstract
A computer system including processing circuitry configured to obtain light data from a light-based scanning device; obtain trajectory data of an upcoming trajectory of a vehicle; generate a frame of reference for the light-based scanning device, the frame of reference indicating positional relationships of a plurality of light points based on the light data and a plurality of trajectory points based on the trajectory data; for one or more given trajectory points, identify a non-overlapping region in the frame of reference where no light points are collocated at the one or more given trajectory points; and determine the lens coverage condition based on a position of the vehicle in relation to the identified non-overlapping region.
Claims18
A computer-implemented method for determining a lens coverage condition of a light-based scanning device arranged in a vehicle, the method comprising:
- obtaining, by processing circuitry of a computer system, light data from the light-based scanning device based on captured reflections of emitted light;
- obtaining, by the processing circuitry, trajectory data of an upcoming trajectory of the vehicle;
- generating by the processing circuitry, a frame of reference for the light-based scanning device by projecting a plurality of trajectory points, based on the trajectory data, onto a surface of a field of view of the light-based scanning device to obtain a common coordinate system, wherein, the frame of reference comprises a discrete map having a plurality of interconnected tiles being a tessellation of the field of view of the light-based scanning device, the light points and the trajectory points being contained in one or more of the interconnected tiles;
- for one or more given trajectory points, identifying, by the processing circuitry, a non-overlapping region in the frame of reference where no light points based on the captured reflections are collocated at the one or more given trajectory points;
- and
- determining, by the processing circuitry, the lens coverage condition based on a position of the vehicle in relation to the identified non-overlapping region.
A computer system for determining a lens coverage condition of a light-based scanning device arranged in a vehicle, the computer system comprising processing circuitry configured to:
- obtain light data from the light-based scanning device based on captured reflections of emitted light;
- obtain trajectory data of an upcoming trajectory of the vehicle;
- generate a frame of reference for the light-based scanning device by projecting a plurality of trajectory points, based on the trajectory data, onto a surface of a field of view of the light-based scanning device to obtain a common coordinate system, wherein, the frame of reference comprises a discrete map having a plurality of interconnected tiles being a tessellation of the field of view of the light-based scanning device, the light points and the trajectory points being contained in one or more of the interconnected tiles;
- for one or more given trajectory points, identify a non-overlapping region in the frame of reference where no light points based on the captured reflections are collocated at the one or more given trajectory points;
- and
- determine the lens coverage condition based on a position of the vehicle in relation to the identified non-overlapping region.
Dependencies are inferred from the claim text.