A method and system provide the ability to automatically control a vehicle to avoid obstacle collision. Range data of a real-world scene (including depth data to static objects) is acquired. Positions and velocities of moving objects are acquired. The range data is combined into an egospace representation for pixels in egospace that is specified with respect to a radially aligned coordinate system. An apparent size of the static objects is expanding, in the egospace representation, based on a dimension of the vehicle. A speed of the vehicle is specified. A velocity obstacle corresponding to the moving objects is constructed. A mask is created in the coordinate system and identifies candidate radial paths that will result in a collision between the vehicle and the moving objects. The mask is combined with the egospace representation that is then used to determine a path for the vehicle.
Simultaneous representation of moving and static obstacles for automatically controlled vehicles
2022-01-04
Patent
Elektronische Ressource
Englisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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