Patent SG-11201810922V-A (SG)
Title: Methods and systems for detecting environmental information of a vehicle
Inventor: YAO WEILONG
IPC: G01S17/06
Filed: 2017-08-25
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) --,, (19) World Intellectual Property MTh 0 111111 11 111 11111 0 11 110 1 0 111 11111 0111 11 111 0 11 11111 110 11110 1111 0 11 1111 Organization International Bureau (10) International Publication Number (43) International Publication Date .......•* WO 2019/037129 Al 28 February 2019 (28.02.2019) WIP0 I PCT (51) International Patent Classification: Building 34, No. 8 Dongbeiwang West Road, Haidian Dis- G01S 17/06 (2006.01) trict, Beijing 100193 (CN). (21) International Application Number: (74) Agent: METIS IP (CHENGDU) LLC; No. 846 South PCT/CN2017/099173 Tianfu Road, Tianfu Innovation Center, Chengdu, Sichuan 610213 (CN). (22) International Filing Date: 25 August 2017 (25.08.2017) (81) Designated States (unless otherwise indicated, for every (25) Filing Language: English kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, (26) Publication Language: English CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, (71) Applicant: BEIJING DIDI INFINITY TECHNOLOGY HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, AND DEVELOPMENT CO., LTD. [CN/CN]; Building KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, 34, No. 8 Dongbeiwang West Road, Haidian District, Bei- MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, jing 100193 (CN). OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, (72) Inventors: YAO, Weilong; Building 34, No. 8 Dongbei- SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, wang West Road, Haidian District, Beijing 100193 (CN). TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. MENG, Zenan; Building 34, No. 8 Dongbeiwang West (84) Designated States (unless otherwise indicated, for every Road, Haidian District, Beijing 100193 (CN). LIU, Jian; kind of regional protection available): ARIPO (BW, GH, Building 34, No. 8 Dongbeiwang West Road, Haidian Dis- GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, trict, Beijing 100193 (CN) ZHANG, Hao; Building 34, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, No. 8 Dongbeiwang West Road, Haidian District, Beijing TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, 100193 (CN). TAN, Shen; Building 34, No. 8 Dongbei- EE, ES, FI, FR, GB, GR, HR, HU, 1E, IS, IT, LT, LU, LV, = — wang West Road, Haidian District, Beijing 100193 (CN). MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, = CAI, Yehe; Building 34, No. 8 Dongbeiwang West Road, = Haidian District, Beijing 100193 (CN). YANG, Zheng; Title: METHODS AND SYSTEMS FOR DETECTING ENVIRONMENTAL INFORMATION OF A VEHICLE (54) (57) : A system (100) for detecting a surrounding object may receive, from 400 a camera (120), a first image including a plurality of pixels relating to one or more = = Receiving, from a camera, a first image including a plurality iv 410 objects and receive, from one or more LiDARs (112, 114, 116), a first point set of pixels relating to one or more objects including a plurality of points corresponding to the plurality of pixels. The system = (100) may also, based on the first point set, determine 3D coordinates and reflection = 1 intensities of the plurality of points, based on which the system (100) may generate = Receiving, from one or more LiDARs, a first point set including a plurality of points corresponding to the plurality of pixels of the first image 6,/ 420 a segment result by classifying the plurality of points. The system (100) may further transform the 3D coordinates of the plurality of points into 2D coordinates and de- = _ 1 termine an object type of the one or more objects based on the 2D coordinates, the = Determining first 3D coordinates of the plurality of points and reflection intensity of the plurality of points based on the first point set t - Ay 430 3D coordinates, the segment result, and the first image. = = i = — Generating a segment result by classifying the plurality of points based on the first 3D coordinates of the plurality of 6,,, 440 = — points and the reflection intensities of the plurality of points 1 _ Transforming the first 3D coordinates of the plurality of points into first 2D coordinates of the plurality of points /1,, , 450 11 '1° 1 C.: N Determining an object type of the one or more objects based on the first 2D coordinates of the plurality of points, the first Ay 460 - 11 3D coordinates of the plurality of points, the segments result. and the first image 1 IN 1 M C::: ) ........ Determining environmental information relating to the one or 71 ./ 470 C.: in the first image based the type more objects on object 11 FIG. 4 O N O [Continued on next page] WO 2019/037129 Al HINIONOIMEIMEHEMINIMENHOUREMIEMIE TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3))