US 11,054,835 B2
Vehicle collision avoidance
Matthew Hyatt Turpin, Waltham, MA (US); and Stephen Marc Chaves, Philadelphia, PA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Mar. 21, 2019, as Appl. No. 16/360,596.
Application 16/360,596 is a continuation of application No. 15/607,975, filed on May 30, 2017, granted, now 10,289,121.
Claims priority of provisional application 62/421,551, filed on Nov. 14, 2016.
Prior Publication US 2019/0220041 A1, Jul. 18, 2019
Int. Cl. G05D 1/10 (2006.01); G08G 5/00 (2006.01); G06K 9/00 (2006.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01); G08G 5/04 (2006.01); G01S 13/935 (2020.01)
CPC G05D 1/0223 (2013.01) [G05D 1/0088 (2013.01); G06K 9/00637 (2013.01); G08G 5/0013 (2013.01); G08G 5/0069 (2013.01); G08G 5/0086 (2013.01); G08G 5/045 (2013.01); G01S 13/935 (2020.01)] 27 Claims
OG exemplary drawing
 
1. A method of vehicle collision avoidance, comprising:
receiving, by a processor, lidar data comprising one or more points including a distance and a direction from a vehicle to the one or more points, wherein each of the one or more points corresponds to a pixel in an image comprising the lidar data;
determining, by the processor, a velocity constraint for each of the one or more points based on the distance and direction from the vehicle to each of the one or more points;
determining, by the processor, one or more velocity solutions that satisfy the determined velocity constraints based on a vehicle navigation instruction;
selecting, by the processor, a velocity solution from the determined one or more velocity solutions based on the vehicle navigation instruction; and
adjusting, by the processor, a vehicle velocity based on the selected velocity solution.