Sensor fusion for dynamic mapping
AssigneeMitsubishi Electric Automotive America, Inc.
InventorsZhenchun XIA, Kuen YEHLIU
Life of this patent
Estimating the term…
Abstract
A local computing device receives lidar data and radar data from one or more road side units (RSUs). The local computing device performs ground plane removal based on range to detect targets and perform local sensor fusion. The local computing device may use a global nearest neighbor (GNN) algorithm and a Kalman filter. The local computing device may create an HD map or the data may be brought together with other target data at a central computing device to produce the HD map. Vehicle position and motion are controlled based on the HD map. Detecting and removing a ground plane based on range are illustrated. Fusion, ground plane removal, and delay filtering may be used in various contexts, such as roadways, parking lots and shipping yards.
Claims20
A method for producing a high definition map (HD map) for control of one or more autonomous vehicles, the one or more autonomous vehicles including a first vehicle, the method comprising:
- receiving, at a local computing device, first lidar data and first radar data related to the first vehicle;
- performing a local sensor fusion at the local computing device, wherein the local sensor fusion includes removing, based on a range to the first vehicle, a ground plane associated with the first vehicle, and
- determining, based on the local sensor fusion, the HD map, wherein the HD map indicates a position and a velocity of the first vehicle.
A local computing device comprising:
- a communication interface;
- and
- at least one processor configured to:
- receive, via the communication interface, first lidar data and first radar data related to a first vehicle of one or more autonomous vehicles;
- perform a local sensor fusion at the local computing device, wherein the local sensor fusion includes removing a ground plane associated with the first vehicle based on a range to the first vehicle, and
- determine, based on the local sensor fusion, a high definition (HD) map, wherein the HD map indicates a position and velocity of the first vehicle.
A non-transitory computer readable medium comprising instructions for execution by a processor in a local computing device for causing the local computing device to:
- receive, via a communication interface, first lidar data and first radar data related to a first vehicle of one or more autonomous vehicles;
- perform a local sensor fusion at the local computing device, wherein the local sensor fusion includes removing a ground plane associated with the first vehicle based on a range to the first vehicle, and
- determine, based on the local sensor fusion, a high definition (HD) map, wherein the HD map indicates a position and velocity of the first vehicle.
Dependencies are inferred from the claim text.