Systems and methods for lidar measurement with reduced peak-fitting bias
AssigneeAurora Operations, Inc.
InventorPhilip Warshowsky
Life of this patent
Estimating the term…
Abstract
A LIDAR sensor system includes one or more processors. The processors transmit a signal to an environment of the LIDAR sensor system, receive, from an object in the environment, a return signal in response to transmitting the signal, determine correlation data between the signal and the return signal, identify, in the correlation data, an initial location of a peak, convolve the correlation data with a predetermined function to refine the initial location of the peak, and in response to the refined location of the peak, determine at least one of a distance to the object from the LIDAR sensor system or a velocity of the object.
Claims20
A LIDAR sensor system comprising:
- one or more processors;
- and one or more computer-readable storage mediums storing instructions which, when executed by the one or more processors, cause the one or more processors to:
- transmit a signal to an environment of the LIDAR sensor system;
- receive, from an object in the environment, a return signal in response to transmitting the signal;
- determine correlation data between the signal and the return signal;
- identify, in the correlation data, an initial location of a peak;
- convolve the correlation data with a predetermined function to refine the initial location of the peak;
- and
- in response to the refined location of the peak, determine at least one of a distance to the object from the LIDAR sensor system or a velocity of the object.
An autonomous vehicle control system comprising:
- one or more processors;
- and one or more computer-readable storage mediums storing instructions which, when executed by the one or more processors, cause the one or more processors to:
- transmit a signal to an environment of the LIDAR sensor system;
- receive, from an object in the environment, a return signal in response to transmitting the signal;
- determine correlation data between the signal and the return signal;
- identify, in the correlation data, an initial location of a peak;
- convolve the correlation data with a predetermined function to refine the initial location of the peak;
- in response to the refined location of the peak, determine at least one of a distance to the object from the LIDAR sensor system or a velocity of the object;
- and
- control operation of a vehicle, based at least in part on a determination of the at least one of the distance or the velocity of the object in the environment.
An autonomous vehicle comprising:
- a LIDAR sensor system, comprising:
- one or more processors;
- and one or more computer-readable storage mediums storing instructions which, when executed by the one or more processors, cause the one or more processors to:
- transmit a signal to an environment of the LIDAR sensor system;
- receive, from an object in the environment, a return signal in response to transmitting the signal;
- determine correlation data between the signal and the return signal;
- identify, in the correlation data, an initial location of a peak;
- convolve the correlation data with a predetermined function to refine the initial location of the peak;
- and
- in response to the refined location of the peak, determine at least one of a distance to the object from the LIDAR sensor system or a velocity of the object;
- a steering system;
- a braking system;
- and
- a vehicle controller comprising one or more processors configured to control operation of at least one of the steering system or the braking system based at least in part on a determination of the at least one of the distance or the velocity of the object in the environment.
Dependencies are inferred from the claim text.