Method and device for determining false-positive detections of a lidar sensor
AssigneeMercedes-Benz Group AG
InventorDavid Peter
Life of this patent
Estimating the term…
Abstract
A method for determining false-positive detections of a lidar sensor in a scanning process of the surroundings of a vehicle involves, for every laser pulse that is reflected back to the lidar sensor in a scan range of this, checking whether this is reflected back several times in different distances. First reflections of a laser pulse that is reflected back several times are clustered and then, if a distance evaluation of reflections from the cluster produced reveals that the laser pulses are being reflected at a reflecting surface that is at least approximately homogeneous, further reflections following the respective first reflection are marked as false-positive detections.
Claims10
A method comprising:
- emitting, by a lidar sensor of a vehicle, a plurality of laser pulses in different directions in a scanning operation of an environment of the vehicle;
- receiving, by the lidar sensor, laser pulse reflections of the emitted plurality of laser pulses;
- checking every laser pulse reflection in a scan range of the lidar sensor to determine whether the laser pulse is reflected back several times in different distances;
- forming a cluster of first reflections of the laser pulse that are reflected back several times;
- and then
- marking further reflections following the first reflections of the laser pulse as false-positive detections if a distance evaluation of laser pulses reflected at the cluster indicates that the laser pulse is being reflected at a reflecting surface that is planar or is a curved window pane of another vehicle;
- and
- controlling, by a driver assistance system of the vehicle, longitudinal or lateral movement of the vehicle based on the first reflections and omitting the marked further reflections.
A vehicle comprising:
- a lidar sensor configured to emit a plurality of laser pulses in different directions in a scanning operation of an environment of the vehicle and receive laser pulse reflections of the emitted plurality of laser pulses;
- a device, coupled to the lidar sensor, configured to
- check every laser pulse reflection in a scan range of the lidar sensor to determine whether the laser pulse is reflected back several times in different distances;
- form a cluster of first reflections of the laser pulse that are reflected back several times;
- and then
- mark further reflections following the first reflections of the laser pulse as false-positive detections if a distance evaluation of laser pulses reflected at the cluster indicates that the laser pulse is being reflected at a reflecting surface that is planar or is a curved window pane of another vehicle;
- and
- a driver assistance system, coupled to the device, configured to control longitudinal or lateral movement of the vehicle based on the first reflections and omitting the marked further reflections.
Dependencies are inferred from the claim text.