| CPC B60W 60/0015 (2020.02) [B60W 60/0011 (2020.02); G01S 17/58 (2013.01); G06V 20/584 (2022.01); G06V 40/103 (2022.01); B60W 2420/408 (2024.01); B60W 2554/20 (2020.02); B60W 2554/4029 (2020.02)] | 19 Claims |
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1. A method comprising:
obtaining, by a sensing system of an autonomous vehicle (AV), a plurality of return points, each return point comprising one or more velocity values and one or more coordinates of a reflecting region that reflects a signal emitted by the sensing system;
identifying an association of the plurality of return points with an object in an environment of the AV;
segmenting, based on a first value of a translational velocity and a second value of a rotational velocity, the plurality of return points into at least a first cluster of points and a second cluster of points, wherein the first cluster of points is segmented by fitting the first cluster of points using a translational rigid-body motion associated with the first value of the translational velocity, and wherein the second cluster of points is segmented by fitting the second cluster of points using a combination of:
the translational rigid-body motion associated with the first value of the translational velocity, and
a rotational rigid-body motion associated with the second value of the rotational velocity;
identifying, using the first cluster of points and the second cluster of points, a type of the object; and
outputting a control instruction that causes one or more AV control systems to change a driving path of the AV in view of the identified type of the object.
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