Object and vehicle detecting and tracking using a 3-D laser rangefinder

Abstract

Provided are a method and system for detecting and tracking objects near a vehicle using a three dimensional laser rangefinder. The method receives points from the laser rangefinder, where the points represent locations in space where the rangefinder senses that some object exists. An algorithm first estimates the location of a ground plane, based on a previous ground plane location, data from onboard sensors, and an eigenvector calculation applied to the point data. Next, a plan view occupancy map and elevation map are computed for stationary objects, based on point data in relation to the ground plane. Finally, dynamic objects are detected and tracked, sensing objects which are moving, such as other vehicles, pedestrians, and animals. The output of the method is a set of stationary and dynamic objects, including their shape, range, and velocity. This output can be used by downstream applications, such as collision avoidance or half autonomous driving systems.

Description

technical field [0001] The present invention relates generally to object detection methods and systems, and more particularly to object detection methods and systems that use three-dimensional laser range finders to detect and track both stationary and moving objects in the vicinity of a vehicle to provide input to downstream vehicle control applications source. Background technique [0002] Many modern vehicles include various complex electronic systems for safety and navigation aids. In some vehicles, these systems include object detection and adaptive cruise control systems, which can warn the driver of obstacles near the vehicle, or even control the vehicle's brakes or steering to maintain a safe distance from another vehicle or object. However, object detection systems known in the art and available on the market have limitations in how well they can detect and track objects and how reliably object data can be used for vehicle control purposes. [0003] Most object de...

AI Technical Summary

Problems solved by technology

they may be able to detect the 2D shape of an object, but cannot determine object height and thus whether the object is actually a ground or road surface feature

or they may be able to detect the presence of targets, but not distinguish between closely spaced targets based on relative velocity or three-dimensional properties

Finally, existing radar- or camera-based object detection systems may fail to detect some objects at all due to lack of reflection or lack of color variation of the object

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