US 11,703,599 B2
Partial point cloud-based pedestrians' velocity estimation method
Xiang Liu, Beijing (CN); Bin Gao, Beijing (CN); and Fan Zhu, Beijing (CN)
Assigned to BAIDU USA LLC, Sunnyvale, CA (US); and BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD, Beijing (CN)
Appl. No. 16/771,312
Filed by Baidu USA LLC, Sunnyvale, CA (US); and Baidu.com Times Technology (Beijing) Co., Ltd., Beijing (CN)
PCT Filed May 15, 2020, PCT No. PCT/CN2020/090419
§ 371(c)(1), (2) Date Jun. 10, 2020,
PCT Pub. No. WO2021/226980, PCT Pub. Date Nov. 18, 2021.
Prior Publication US 2021/0356599 A1, Nov. 18, 2021
Int. Cl. G01S 17/931 (2020.01); G06T 7/20 (2017.01); G01S 17/42 (2006.01); G01S 7/48 (2006.01); G01S 17/58 (2006.01); B60W 60/00 (2020.01); G01S 17/00 (2020.01); G06V 10/25 (2022.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01)
CPC G01S 17/931 (2020.01) [B60W 60/0011 (2020.02); G01S 7/4802 (2013.01); G01S 17/00 (2013.01); G01S 17/42 (2013.01); G01S 17/58 (2013.01); G06T 7/20 (2013.01); G06V 10/25 (2022.01); G06V 20/10 (2022.01); G06V 20/56 (2022.01); B60W 2420/52 (2013.01); B60W 2554/4029 (2020.02); G06T 2207/10028 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for operating an autonomous driving vehicle, the method comprising:
detecting a pedestrian in a plurality of frames of point clouds generated by a LIDAR device installed at an autonomous driving vehicle (ADV);
in each of at least two of the plurality of frames of point clouds, generating a minimum bounding box enclosing points corresponding to the pedestrian and excluding points corresponding to limbs of the pedestrian;
estimating a moving speed of the pedestrian based at least in part on the minimum bounding boxes across the at least two of the plurality of frames of point clouds;
planning a trajectory for the ADV based at least on the moving speed of the pedestrian; and
generating control signals to drive the ADV based on the planned trajectory.