Patent ID: 11921212
Assignee: VOLVO CAR CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. A LIDAR-based method of determining an absolute speed of an object at a relatively longer distance from an ego vehicle defined as being farther from the ego vehicle than a relatively shorter distance range from the ego vehicle, the method comprising:
receiving a first frame and a second frame obtained from a LIDAR sensor coupled to the ego vehicle and dividing each of the first frame and the second frame into multiple adjacent input ranges and processing each frame, with the input ranges processed using a corresponding convolutional neural network configured to provide intervening rotation about a z axis and translations in orthogonal x and y directions over the relatively shorter distance range to estimate a self speed of the ego vehicle and object location and speed to estimate a relative speed of the object at the relatively longer distance by processing each frame over the multiple adjacent input ranges; and
combining the estimation of the self speed with the estimation of the relative speed to obtain an estimation of the absolute speed of the object at the relatively longer distance.