LIDAR sensor frost detection
First Claim
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1. A vehicle system comprising:
- a LIDAR sensor having a lens; and
a processor programmed to receive sensor signals from the LIDAR sensor, estimate frost accumulation on the LIDAR sensor from the sensor signals, compare the estimated frost accumulation to a predetermined threshold representing an amount of frost accumulation on the lens of the LIDAR sensor, output a defrost signal to the LIDAR sensor to command the LIDAR sensor to execute a defrost operation as a result of determining that the frost accumulation exceeds the predetermined threshold, prevent a host vehicle from operating in an autonomous mode as a result of determining that the estimated frost accumulation exceeds the predetermined threshold, and output a signal to a user interface located in the host vehicle instructing a vehicle occupant to manually remove the frost from the lens of the LIDAR sensor to resume autonomous operation of the host vehicle,wherein the processor is programmed to prevent the host vehicle from operating in the autonomous mode by outputting a signal instructing an autonomous mode controller to prohibit autonomous operation of the host vehicle, andwherein the LIDAR sensor executes the defrost operation to melt the frost on the lens of the LIDAR sensor.
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Abstract
A vehicle system includes a processor programmed to receive sensor signals from a LIDAR sensor. The processor estimates frost accumulation on the LIDAR sensor from the sensor signals and compares the estimated frost accumulation to a predetermined threshold. The processor further prevents a host vehicle from operating in an autonomous mode if the estimated frost accumulation exceeds the predetermined threshold.
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Citations
19 Claims
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1. A vehicle system comprising:
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a LIDAR sensor having a lens; and a processor programmed to receive sensor signals from the LIDAR sensor, estimate frost accumulation on the LIDAR sensor from the sensor signals, compare the estimated frost accumulation to a predetermined threshold representing an amount of frost accumulation on the lens of the LIDAR sensor, output a defrost signal to the LIDAR sensor to command the LIDAR sensor to execute a defrost operation as a result of determining that the frost accumulation exceeds the predetermined threshold, prevent a host vehicle from operating in an autonomous mode as a result of determining that the estimated frost accumulation exceeds the predetermined threshold, and output a signal to a user interface located in the host vehicle instructing a vehicle occupant to manually remove the frost from the lens of the LIDAR sensor to resume autonomous operation of the host vehicle, wherein the processor is programmed to prevent the host vehicle from operating in the autonomous mode by outputting a signal instructing an autonomous mode controller to prohibit autonomous operation of the host vehicle, and wherein the LIDAR sensor executes the defrost operation to melt the frost on the lens of the LIDAR sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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detecting an environmental condition including at least one of an ambient temperature and an ambient humidity; receiving sensor signals from a LIDAR sensor; estimating frost accumulation on the LIDAR sensor from the sensor signals as a result of detecting the environmental condition; comparing the estimated frost accumulation to a predetermined threshold representing an amount of frost accumulation associated with interfering with an accuracy of the LIDAR sensor; activating a defrost operation of the LIDAR sensor as a result of determining that the frost accumulation exceeds the predetermined threshold; preventing a host vehicle from operating in an autonomous mode as a result of determining that the estimated frost accumulation exceeds the predetermined threshold, wherein preventing the host vehicle from operating in the autonomous mode includes instructing an autonomous mode controller to prohibit autonomous operation of the host vehicle; and outputting a signal to a user interface located in the host vehicle instructing a vehicle occupant to manually remove the frost from the lens of the LIDAR sensor to resume autonomous operation of the host vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A vehicle computer comprising a processor and a memory storing instructions executable by the processor, the instructions including:
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detecting an environmental condition including at least one of an ambient temperature and an ambient humidity; receiving sensor signals from a LIDAR sensor; estimating frost accumulation on the LIDAR sensor from the sensor signals as a result of detecting the environmental condition; comparing the estimated frost accumulation to a predetermined threshold representing an amount of frost accumulation associated with interfering with an accuracy of the LIDAR sensor; activating a defrost operation of the LIDAR sensor as a result of determining that the frost accumulation exceeds the predetermined threshold; preventing a host vehicle from operating in an autonomous mode if the estimated frost accumulation exceeds the predetermined threshold, wherein preventing the host vehicle from operating in the autonomous mode includes instructing an autonomous mode controller to prohibit autonomous operation of the host vehicle; and outputting a signal to a user interface located in the host vehicle instructing a vehicle occupant to manually remove the frost from the lens of the LIDAR sensor to resume autonomous operation of the host vehicle. - View Dependent Claims (17, 18, 19)
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Specification