EP-4737939-A1 - DETECTION OF GROUND SURFACE HEIGHT VARIATION IN THE VICINITY OF A VEHICLE

Abstract

A computer-implemented method for detection of ground surface height variation in a vicinity of a vehicle is disclosed. The method comprises acquiring (by processing circuitry of a computer system) measured backscatter from a radar transceiver mounted on the vehicle and directed at the ground surface, comparing (by the processing circuitry) the measured backscatter to expected ground surface backscatter according to a current vehicle motion, and detecting (by the processing circuitry) a ground surface height variation responsive to a difference between the expected ground surface backscatter and the measured backscatter satisfying a detection criterion. In some examples, the difference may indicate one or more of: a distance from the radar transceiver to the ground surface height variation, and an angular orientation relative the radar transceiver of the ground surface height variation. Corresponding computer system, vehicle, computer program product, and non-transitory computer-readable storage medium are also disclosed.

Inventors

• KUMRU, MURAT
• RYDSTRÖM, Mats
• PANAHANDEH, Ghazaleh
• JONASSON, MATS
• ISAAC PRABHAHAR, Dhurai

Assignees

• Volvo Truck Corporation

Dates

Publication Date

20260506

Application Date

20241104

Claims (15)

1. A computer system (290, 900) for detection of ground surface height variation (395, 795) in a vicinity of a vehicle (200), the computer system comprising processing circuitry configured to: acquire measured backscatter from a radar transceiver (293, 294, 393, 394) mounted on the vehicle and directed at the ground surface; compare the measured backscatter to expected ground surface backscatter according to a current vehicle motion; and detect a ground surface height variation responsive to a difference between the expected ground surface backscatter and the measured backscatter satisfying a detection criterion.
2. A vehicle (200) comprising the computer system of claim 1.
3. The vehicle of claim 2, further comprising one or more radar transceivers (293, 294, 393, 394) mounted on the vehicle and directed at the ground surface, and configured to provide the measured backscatter.
4. A computer-implemented method (100) for detection of ground surface height variation (395, 795) in a vicinity of a vehicle (200), the method comprising: acquiring (110), by processing circuitry of a computer system, measured backscatter from a radar transceiver (293, 294, 393, 394) mounted on the vehicle and directed at the ground surface; comparing (120), by the processing circuitry, the measured backscatter to expected ground surface backscatter according to a current vehicle motion; and detecting (130), by the processing circuitry, a ground surface height variation responsive to a difference between the expected ground surface backscatter and the measured backscatter satisfying a detection criterion (125).
5. The method of claim 4, wherein the detected ground surface height variation comprises an edge of the ground surface.
6. The method of any of claims 4-5, further comprising determining (121), by the processing circuitry, the expected ground surface backscatter according to the current vehicle motion.
7. The method of any of claims 4-6, wherein the current vehicle motion comprises vehicle velocity over the ground surface in a direction corresponding to a facing direction or boresight direction of the radar transceiver.
8. The method of any of claims 4-7, wherein the measured backscatter comprises signal power distribution (400, 500, 600, 800) in a space spanned by radial velocity of the radar transceiver relative to the ground surface and by radial distance of the radar transceiver from the ground surface.
9. The method claim 8, wherein the expected ground surface backscatter indicates an expected shape in the space spanned by radial velocity of the radar transceiver relative to the ground surface and by radial distance of the radar transceiver from the ground surface.
10. The method of claim 9, wherein comparing the measured backscatter to the expected ground surface backscatter comprises applying (123), by the processing circuitry, a spatial filter (510, 520) to the measured backscatter, wherein the spatial filter corresponds to the expected shape in the space spanned by radial velocity of the radar transceiver relative to the ground surface and by radial distance of the radar transceiver from the ground surface.
11. The method of claim 10, wherein the detection criterion comprises that a signal power profile of the measured backscatter as filtered has a more prominent power decrease (610, 810, 811, 812) with radial distance than a corresponding signal power profile of the expected ground surface backscatter.
12. The method of any of claims 4-11, wherein the difference between the expected ground surface backscatter and the measured backscatter indicates one or more of: a distance from the radar transceiver to the ground surface height variation, and an angular orientation relative the radar transceiver of the ground surface height variation.
13. The method of any of claim 4-12, further comprising causing (140), by the processing circuitry, a safety enhancing action responsive to detection of the ground surface height variation.
14. A computer program product (1000) comprising program code for performing, when executed by the processing circuitry, the method of any of claims 4-13.
15. A non-transitory computer-readable storage medium (1050) comprising instructions, which when executed by the processing circuitry, cause the processing circuitry to perform the method of any of claims 4-13.

Description

TECHNICAL FIELD The disclosure relates generally to sensing of vehicle surroundings. In particular aspects, the disclosure relates to detection of ground surface height variation in the vicinity of a vehicle. The disclosure can be applied to heavy-duty vehicles, such as trucks, buses, mining equipment, and construction equipment, among other vehicle types. The disclosure can be useful for vehicles of any autonomy level (e.g., fully autonomous vehicles as well as vehicles controlled by a human operator). Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle. BACKGROUND In the context of vehicle control, it is generally beneficial to have information about the vehicle surroundings. One example of such information relates to ground surface height variations in the vicinity of the vehicle (e.g., edges or drop-offs in the ground surface). For example, it may be beneficial to know if there are ground surface height variations or not, and - if there are ground surface height variations - their location and orientation in relation to the vehicle. Such information may, typically, be acquired by visual inspection and/or by use of cameras mounted on the vehicle. However, there are situations when sufficient information is unavailable (or cumbersome to acquire) through such known techniques. For example, visual inspection may require an operator to step out of the vehicle to inspect parts of the ground surface which are not visible from the operator seat (a.k.a., blind spots), and camera view may be obstructed in some situations (e.g., by dust, mud, snow, rain, fog, lack of light, etc.). Furthermore, it may be challenging (e.g., for a vehicle operator or an autonomous driving system) to interpret visual images to extract spatial information such as ground surface height variations. Thus, there is a need for alternative approaches for detection of ground surface height variation in the vicinity of a vehicle. SUMMARY According to a first aspect of the disclosure, a computer system for detection of ground surface height variation in a vicinity of a vehicle is provided. The computer system comprises processing circuitry configured to acquire measured backscatter from a radar transceiver mounted on the vehicle and directed at the ground surface, compare the measured backscatter to expected ground surface backscatter according to a current vehicle motion, and detect a ground surface height variation responsive to a difference between the expected ground surface backscatter and the measured backscatter satisfying a detection criterion. The first aspect of the disclosure may seek to provide or improve approaches for detection of ground surface height variation in the vicinity of a vehicle. A technical benefit may include enhanced vehicle control and/or increased vehicle safety. According to a second aspect of the disclosure, a vehicle is provided, which comprises the computer system of the first aspect. The second aspect of the disclosure may seek to provide a vehicle configured for (improved) detection of ground surface height variation in the vicinity of the vehicle. A technical benefit may include enhanced vehicle control and/or increased vehicle safety. Optionally in some examples, including in at least one preferred example, the vehicle may further comprise one or more radar transceivers mounted on the vehicle and directed at the ground surface, and configured to provide the measured backscatter. According to a third aspect of the disclosure, a computer-implemented method for detection of ground surface height variation in a vicinity of a vehicle is provided. The method comprises acquiring (by processing circuitry of a computer system) measured backscatter from a radar transceiver mounted on the vehicle and directed at the ground surface, comparing (by the processing circuitry) the measured backscatter to expected ground surface backscatter according to a current vehicle motion, and detecting (by the processing circuitry) a ground surface height variation responsive to a difference between the expected ground surface backscatter and the measured backscatter satisfying a detection criterion. The third aspect of the disclosure may seek to provide or improve approaches for detection of ground surface height variation in the vicinity of a vehicle. A technical benefit may include enhanced vehicle control and/or increased vehicle safety. Optionally in some examples, including in at least one preferred example, the detected ground surface height variation may comprise an edge of the ground surface. A technical benefit may include that an edge of the ground surface may be avoided, which typically reduces accidents and vehicle damage/wear. Optionally in some examples, including in at least one preferred example, the method may further comprise determining (by the processing circuitry) the expected ground surface backscatter according to the current