Motional Ad LLC

Matthias Sapuan

Junqing Wei

Eric Wolff

Hsun-Hsien Chang

Philipp Robbel

Guchan Ozbilgin

Yifan Yang

Maurilio Di Cicco

Alok Sharma

Noam Weinstein

Akshay Bhagat

Mauro Aguiar

Bishwamoy Sinha Roy

David Butterworth

Andrew J Eick

Dmytro S Yershov

Methods for operating a vehicle in an environment include receiving light detection and ranging (LiDAR) data from a LiDAR of the vehicle. The LiDAR data represents objects located in the environment. A dynamic occupancy grid (DOG) is generated based on a semantic map. The DOG includes multiple grid cells. Each grid cell represents a portion of the environment. For each grid cell, a probability density function is generated based on the LiDAR data. The probability density function represents a probability that the portion of the environment represented by the grid cell is occupied by an object. A time-to-collision (TTC) of the vehicle and the object less than a threshold time is determined based on the probability density function. Responsive to determining that the TTC is less than the threshold time, a control circuit of the vehicle operates the vehicle to avoid a collision of the vehicle and the object.

Vehicle operation using a dynamic occupancy grid

Among other things, we describe systems and method for validating sensor calibration. For validating calibration of a system of sensors having several types of sensors, an object may be configured to have a substantially reflective portion such that the sensors can isolate the substantially reflective portion, and their sensor data can be compared to determine, if the detected locations of the substantially reflective portion by each sensor are aligned. For calibrating a system of sensors, an object having known calibration features can be used and detected by each sensor, and the detected data can be compared to known calibration data associated with the object to determine if each sensor is correctly calibrated.

Systems and methods for validating sensor calibration

Growing community of inventors

Singapore, Singapore

Matthias Sapuan