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 |
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.
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