Detecting Objects Based on Reflectivity Fingerprints

A vehicle, comprising:

• a body;
• and
• at least one processor within the body and configured to:
• scan a field of view by controlling movement of at least one deflector at which at least one light source is directed;
• receive, from at least one sensor, reflections signals indicative of light reflected from a particular object in the field of view;
• detect, based on time of flight, portions of the particular object in the field of view that are similarly spaced from the light source;
• identify, based on the detected portions, at least a first portion having a first reflectivity, a second portion having a second reflectivity, and a third portion having a third reflectivity, and wherein the at least second and third portions have reflectivity substantially lower than the first reflectivity;
• determine a reflectivity fingerprint of the particular object based on a reflectivity relationship between the first portion, the second portion, and the third portion;
• and
• classify the particular object based on the determined reflectivity fingerprint of the particular object.

A method for using LIDAR to detect a vehicle based on license plate reflectivity, the method comprising:

• scanning a field of view by controlling movement of at least one deflector at which at least one light source is directed;
• receiving, from at least one sensor, signals indicative of light reflected from a particular object in the field of view;
• detecting, based on time of flight in the received signals, portions of the particular object in the field of view that are similarly spaced from the light source;
• determining, based on the detected portions, at least a first portion having a first reflectivity corresponding to a license plate, and at least two additional spaced-apart portions corresponding to locations on the particular object other than a location of the first portion, and wherein the at least two additional portions have reflectivity substantially lower than the first reflectivity;
• and
• based on a spatial relationship and a reflectivity relationship between the first portion and the at least two additional portions, classifying the particular object as a vehicle.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for using LIDAR to detect a vehicle based on license plate reflectivity, the method comprising:

• scanning a field of view by controlling movement of at least one deflector at which at least one light source is directed;
• receiving, from at least one sensor, signals indicative of light reflected from a particular object in the field of view;
• detecting, based on time of flight in the received signals, portions of the particular object in the field of view that are similarly spaced from the light source;
• determining, based on the detected portions, at least a first portion having a first reflectivity corresponding to a license plate, and at least two additional spaced-apart portions corresponding to locations on the particular object other than a location of the first portion, and wherein the at least two additional portions have reflectivity substantially lower than the first reflectivity;
• and
• based on a spatial relationship and a reflectivity relationship between the first portion and the at least two additional portions, classifying the particular object as a vehicle.