US 12,340,593 B2
Vehicle drivable area detection method, system, and autonomous vehicle using the system
Lang Xia, Chengdu (CN); Yiqiang Chen, Shenzhen (CN); and Yujie Shen, Shanghai (CN)
Assigned to Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed by Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed on Nov. 10, 2022, as Appl. No. 18/054,353.
Application 18/054,353 is a continuation of application No. PCT/CN2020/089528, filed on May 11, 2020.
Prior Publication US 2023/0072637 A1, Mar. 9, 2023
Int. Cl. G06V 20/58 (2022.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01); G01S 13/89 (2006.01); G01S 13/931 (2020.01); G06V 10/26 (2022.01); G06V 10/82 (2022.01); G06V 20/54 (2022.01); G06V 10/774 (2022.01)
CPC G06V 20/58 (2022.01) [B60W 60/001 (2020.02); G01C 21/3815 (2020.08); G01S 13/89 (2013.01); G01S 13/931 (2013.01); G06V 10/26 (2022.01); G06V 10/82 (2022.01); G06V 20/54 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); G06V 10/774 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A vehicle drivable area detection method, comprising:
processing, using a neural network, image data obtained by a camera apparatus, to obtain a first probability distribution of an obstacle;
obtaining a second probability distribution of the obstacle based on a time of flight and an echo width of a radar echo signal, wherein the echo width is a difference between a second time of flight of the echo signal and a first time of flight of the echo signal, wherein the second time of flight corresponds to a longest echo distance between a radar and the obstacle, and wherein the first time of flight corresponds to a shortest echo distance between the radar and the obstacle;
obtaining, based on the first probability distribution of the obstacle and the second probability distribution of the obstacle, a drivable area of a vehicle represented by a probability, wherein the probability is a probability that the vehicle cannot drive through the area; and either:
a) wherein the vehicle is an autonomous vehicle, planning a driving route for the vehicle based on the obtained drivable area;
or
b) wherein the vehicle is a manually driven vehicle, wherein the drivable area of the vehicle is represented in a form of a probability grid map; and wherein the probability that the vehicle cannot drive through the area is represented in the probability grid map, displaying the probability grid map on a display of the vehicle.