A method, apparatus, and system for determining a low-height obstacle based on outputs of a LIDAR device in an autonomous vehicle is disclosed. A point cloud comprising a plurality of points is generated based on outputs of a LIDAR device. For each point within a first number of lowest rings of points, a neighboring point in a same ring to a first direction is determined, and a first and a second coordinate values-related differences are determined. A first, a second, a third, and a fourth quantities are determined based on the first and second differences. In response to determining that the first, the second, the third, and the fourth quantities satisfy a predetermined condition, a low-height obstacle is determined based on the points within the first number of lowest rings of points. Operations of an autonomous vehicle are controlled based at least in part on the determined low-height obstacle.


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    Title :

    Point cloud-based low-height obstacle detection system


    Contributors:
    LIU XIANG (author) / ZHANG SHUANG (author) / ZHU FAN (author)

    Publication date :

    2022-12-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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