Patent ID: 11885910
Assignee: UATC, LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. An autonomous vehicle, comprising:
a sensor system comprising at least one LIDAR system configured to transmit ranging signals relative to the autonomous vehicle and to generate LIDAR data; and
a vehicle computing system comprising:
one or more processors; and
at least one tangible, non-transitory computer readable medium that stores instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising:
receiving LIDAR data from the sensor system, wherein the LIDAR data includes a plurality of LIDAR points detected by the sensor system;
generating a top-view representation of the LIDAR data that is discretized into a grid of multiple cells, each cell representing a column in three-dimensional space;
determining one or more cell statistics characterizing the LIDAR data corresponding to the cells, the one or more cell statistics characterizing respective LIDAR data corresponding to a respective cell and comprising one or more parameters associated with a distribution of a plurality of detected LIDAR data points within the respective cell, a power of the plurality of detected LIDAR data points, or an intensity of the plurality of detected LIDAR data points projected onto the respective cell;
determining a feature extraction vector for each cell by aggregating one or more cell statistics of surrounding cells at one or more different scales;
determining a classification for each cell based at least in part on the feature extraction vector for each cell; and
controlling, by the vehicle computing system, one or more vehicle controls of the autonomous vehicle based, at least in part, on the classification for each cell.