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

Claim 19:
20. A computing system of an autonomous vehicle, comprising:
a processor; and
memory that stores instructions that, when executed by the processor, cause the processor to perform acts comprising:
receiving a lidar point cloud from a lidar sensor system mounted on the autonomous vehicle, the lidar point cloud comprising a plurality of points that are representative of positions of objects in a driving environment of the autonomous vehicle;
responsive to receiving the lidar point cloud, generating a plurality of segmentation scenes with respect to the lidar point cloud using a different segmentation algorithm to generate each of the segmentation scenes, each segmentation scene is representative of a same portion of the driving environment, wherein each segmentation scene in the plurality of segmentation scenes comprises a respective plurality of regions, wherein within each segmentation scene each region is representative of a different object;
generating scores for each segmentation scene in the plurality of segmentation scenes, wherein the score of each segmentation scene is based upon geometric features of the regions included in that segmentation scene, and wherein the score of each segmentation scene is further based on sub-scores of the plurality of regions respectively comprised in the segmentation scenes;
selecting a segmentation scene in the plurality of segmentation scenes based upon the generated scores; and
controlling at least one of an engine of the autonomous vehicle, a braking system of the autonomous vehicle, or a steering system of the autonomous vehicle during operation of the autonomous vehicle in the driving environment based upon the segmentation scene.