US 12,759,560 B2Granted

Ground profile estimation for sensor data

AssigneeZoox, Inc.

InventorsJacob Daniel Boydston, Kenneth Nathan Brown, Andrew James Feit

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Abstract

Techniques for estimating a ground profile, including a ground height (e.g., elevation) and ground roll, for an environment associated with a vehicle are described herein. Sensor data associated with a vehicle may be used to determine sensor data points associated with a path of the vehicle. Based on an upper bound slope and lower bound slope, such as a maximum and/or minimum rate of ground roll change, a region (e.g., search window) may be determined. Based on the region, a subset of sensor data points included in the region may be determined. The subset of sensor data points may be used to determine a representative height and representative roll. In some instances, the representative height and representative roll may be determined using a Hough transform and the subset of sensor data points. A ground profile may be determined based on the representative height and representative roll.

Claims20

Dependent claims

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 one or more processors to perform operations comprising:
receiving a path associated with controlling an autonomous vehicle through an environment;
receiving lidar data from a sensor associated with the autonomous vehicle;
associating the lidar data with a bin at a distance along the path;
determining a lower bound slope and an upper bound slope associated with the bin based on the lower bound slope and the upper bound slope indicating bounds of a rate of change associated with height values represented by the lidar data;
identifying, as a subset of data, a portion of the lidar data associated with the bin that falls within the lower bound slope and the upper bound slope;
determining, based on the subset of data, candidate heights associated with the bin;
determining, based on the subset of data, candidate rolls associated with the bin;
determining a representative height from the candidate heights and a representative roll from the candidate rolls;
determining, based at least in part on the representative height and the representative roll, a ground surface;
and
controlling the autonomous vehicle based on the ground surface.

11 more elements

One or more non-transitory computer-readable media storing instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations comprising:

receiving sensor data from a sensor associated with a vehicle;
determining, based on the sensor data, sensor data points associated with a path of the vehicle;
determining, based on a first upper bound slope and a first lower bound slope indicating bounds of a rate of change associated with height values represented by the sensor data, a first region;
determining, based at least in part on the first region, the first lower bound slope, and the first upper bound slope, a first subset of the sensor data points;
determining, based on the first subset of the sensor data points, a representative height and representative roll;
determining a ground profile based at least in part on the representative height and the representative roll;
and
controlling the vehicle based on the ground profile.

5 more elements

A method comprising:

receiving sensor data from a sensor associated with a vehicle;
determining, based on the sensor data, sensor data points associated with a path of the vehicle;
determining, based on a first upper bound slope and a first lower bound slope indicating bounds of a rate of change associated with height values represented by the sensor data, a first region;
determining, based at least in part on the first region, the first lower bound slope, and the first upper bound slope, a first subset of the sensor data points;
determining, based on the first subset of the sensor data points, a representative height and representative roll;
determining a ground profile based at least in part on the representative height and the representative roll;
and
controlling the vehicle based on the ground profile.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/902,666Filed 30 Sep 2024 · continuation in part
Priority: 31 Mar 2022
Published: US 2025/0018954 A116 Jan 2025
Granted: 13 Oct 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

B60W 40/076
Road conditions: slope angle of the road
G01S 17/89
Lidar systems specially adapted for specific applications: for mapping or imaging
G01S 17/933
For anti-collision purposes: of aircraft or spacecraft
B60W
Conjoint control of vehicle sub-units of different type or different function

Family

Application17/710,855Parent of this continuation-in-part · filed 31 Mar 2022
Application18/787,998Parent of this continuation-in-part · filed 29 Jul 2024
US 2025/0018954 A1Pre-grant publication · published 16 Jan 2025
US 12,172,649 B1Parent of this continuation-in-part
US 12,654,709 B2Related patent
US 2024/0383482 A1Published application
US 12,759,560 B2This patent

From the US filing history. Foreign family members aren’t listed.