Patent ID: 11915427
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. An autonomous vehicle comprising:
an engine;
a braking system;
a steering system;
a lidar sensor system; and
a computing system that is in communication with the engine, the braking system, the steering system, and the lidar sensor system, wherein the computing system comprises:
a processor; and
memory that stores instructions that, when executed by the processor, cause the processor to perform acts comprising:
responsive to receiving lidar data from the lidar sensor system, the lidar data comprising points representative of positions of objects in a driving environment of the autonomous vehicle, generating, by way of a first segmentation algorithm, a first segmentation scene that is indicative of objects in a portion of the driving environment, wherein the first segmentation scene comprises a first plurality of regions that each include a plurality of points from the lidar data, wherein each region in the first plurality of regions is representative of a different object;
generating a second segmentation scene by way of a second segmentation algorithm, wherein the second segmentation scene is indicative of objects in the same portion of the driving environment as the first segmentation scene, wherein the second segmentation scene comprises a second plurality of regions different from the first plurality of regions and that each include a plurality of points from the lidar data, wherein each region in the second plurality of regions is representative of a different object;
generating a first score for the first segmentation scene based upon geometric features of the first plurality of regions, the first score for the first segmentation scene being generated based upon sub-scores of the first plurality of regions;
generating a second score for the second segmentation scene based upon geometric features of the second plurality of regions, the second score for the second segmentation scene being generated based upon sub-scores of the second plurality of regions;
selecting one of the first segmentation scene or the second segmentation scene based upon the first score and the second score; and
controlling at least one of the engine, the braking system, or the steering system during operation of the autonomous vehicle in the driving environment based upon the selected segmentation scene.