Patent ID: 11919451
Assignee: NISSAN NORTH AMERICA, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 13:
14. A method of displaying detected physical features proximate a vehicle, comprising:
providing a vehicle with a 3-D sensor;
scanning areas forward and along lateral sides of the vehicle using the 3D sensor and generating corresponding cloud data where each data point of the cloud data corresponds to a surface point of a physical feature and includes distance, direction and vertical location of each data point relative to the vehicle;
evaluating each of the data points in the cloud data thereby generating a 3D model of detected ones of the physical features around the vehicle including ground surfaces, non-drivable features and driving limiting features relative to the vehicle, where the non-drivable features are physical features that have predetermined geometric relationships relative to adjacent portions of the ground surfaces and the driving limiting features are physical features vertically dimensioned such that caution is to be taken when driving over or on the driving limiting features, the evaluating of each of the data points includes identifying groups of data points that define a physical feature within a predetermined range of heights with no detected physical features being detected between the ground surfaces a lowest data point of the detected physical feature, the detected physical feature being designated as non-drivable features and is further designated as an overhanging feature including tree branches and roof structures that do not appear to be traversable by the vehicle; and
displaying on an electronic display of the vehicle the ground surfaces, non-drivable features and driving limiting features relative to the vehicle.