Sensor surface object detection methods and systems
First Claim
1. A method, comprising:
- receiving, via a processor, output from sensors of a vehicle monitoring an environment around a portion of the vehicle;
determining, via the processor, a first output over time for a first sensor of the sensors of the vehicle;
determining, via the processor, a second output over time for a second sensor of the sensors of the vehicle;
identifying, via the processor and based on sensor information in the first output over time and the second output over time, an obstructed sensor from at least one of the first sensor and the second sensor; and
sending, via the processor, a message including information about the obstructed sensor to one or more devices of the vehicle,wherein the sensor information in the first output over time includes a time of flight defining a time for a detection signal emitted by the first sensor to be detected by the first sensor,wherein the first sensor is identified as the obstructed sensor when the time of flight in the first output over time is less than a time of flight minimum threshold, the time of flight minimum threshold being defined as a minimum time of flight for maintaining a desired distance between the first sensor and possible obstructions,wherein the message instructs a sensor cleaning system of the vehicle to clean the obstructed sensor,wherein the sensor cleaning system includes;
an actuator attached to the obstructed sensor that moves the obstructed sensor between a first position and a second position;
a support structure around the obstructed sensor and set back from a wall of the vehicle; and
at least one flexible cleaning member that covers the obstructed sensor in the second position and that bends over the support structure at a location between the obstructed sensor and the support structure,wherein, as the actuator moves the obstructed sensor between the first position and the second position and vice versa, the at least one flexible member cleans the surface of the obstructed sensor.
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Accused Products
Abstract
Methods, devices, and systems of a sensor surface object detection system are provided. Output from sensors of a vehicle may be used to describe an environment around the vehicle. In the event that a sensor is obstructed by dirt, debris, or detritus the sensor may not sufficiently describe the environment for autonomous control operations. The sensor surface object detection system may receive output from the sensors of the vehicle to determine whether any of the sensors are obstructed. The determination may be made by comparing the output of one sensor to another, determining whether the output of a sensor is within a predetermined threshold, or comparing characteristics of multiple sensor outputs to one another. When a sensor is determined to be obstructed, the system may send a command to a cleaning system to automatically remove the obstruction.
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Citations
13 Claims
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1. A method, comprising:
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receiving, via a processor, output from sensors of a vehicle monitoring an environment around a portion of the vehicle; determining, via the processor, a first output over time for a first sensor of the sensors of the vehicle; determining, via the processor, a second output over time for a second sensor of the sensors of the vehicle; identifying, via the processor and based on sensor information in the first output over time and the second output over time, an obstructed sensor from at least one of the first sensor and the second sensor; and sending, via the processor, a message including information about the obstructed sensor to one or more devices of the vehicle, wherein the sensor information in the first output over time includes a time of flight defining a time for a detection signal emitted by the first sensor to be detected by the first sensor, wherein the first sensor is identified as the obstructed sensor when the time of flight in the first output over time is less than a time of flight minimum threshold, the time of flight minimum threshold being defined as a minimum time of flight for maintaining a desired distance between the first sensor and possible obstructions, wherein the message instructs a sensor cleaning system of the vehicle to clean the obstructed sensor, wherein the sensor cleaning system includes; an actuator attached to the obstructed sensor that moves the obstructed sensor between a first position and a second position; a support structure around the obstructed sensor and set back from a wall of the vehicle; and at least one flexible cleaning member that covers the obstructed sensor in the second position and that bends over the support structure at a location between the obstructed sensor and the support structure, wherein, as the actuator moves the obstructed sensor between the first position and the second position and vice versa, the at least one flexible member cleans the surface of the obstructed sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle, comprising:
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at least two sensors; a sensor cleaning system; a microprocessor coupled to the at least two sensors; and a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to; receive output from the at least two sensors monitoring an environment around a portion of the vehicle; determine a first output over time for a first sensor of the at least two sensors; determine a second output over time for a second sensor of the at least two sensors; identify, based on sensor information in the first output over time and the second output over time, an obstructed sensor from at least one of the first sensor and the second sensor; and send a message including information about the obstructed sensor to one or more devices of the vehicle, wherein the sensor information in the first output over time includes a time of flight defining a time for a detection signal emitted by the first sensor to be detected by the first sensor, wherein the first sensor is identified as the obstructed sensor when the time of flight in the first output over time is less than a time of flight minimum threshold, the time of flight minimum threshold being defined as a minimum time of flight for maintaining a desired distance between the first sensor and possible obstructions, wherein the message instructs the sensor cleaning system to clean the obstructed sensor, wherein the sensor cleaning system includes; an actuator attached to the obstructed sensor that moves the obstructed sensor between a first position and a second position; a support structure around the obstructed sensor and set back from a wall of the vehicle; and at least one flexible cleaning member that covers the obstructed sensor in the second position and that bends over the support structure at a location between the obstructed sensor and the support structure, wherein, as the actuator moves the obstructed sensor between the first position and the second position and vice versa, the at least one flexible member cleans the surface of the obstructed sensor. - View Dependent Claims (10, 11)
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12. A device, comprising:
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a microprocessor; and a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to; receive output from sensors of a vehicle monitoring an environment around a portion of the vehicle; determine a first output over time for a first sensor of the sensors of the vehicle; determine a second output over time for a second sensor of the sensors of the vehicle; identify, based on sensor information in the first output over time and the second output over time, an obstructed sensor from at least one of the first sensor and the second sensor; and send a message including information about the obstructed sensor to one or more devices of the vehicle, wherein the sensor information in the first output over time includes a time of flight defining a time for a detection signal emitted by the first sensor to be detected by the first sensor, wherein the first sensor is identified as the obstructed sensor when the time of flight in the first output over time is less than a time of flight minimum threshold, the time of flight minimum threshold being defined as a minimum time of flight for maintaining a desired distance between the first sensor and possible obstructions, wherein the message instructs a sensor cleaning system of the vehicle to clean the obstructed sensor, wherein the sensor cleaning system includes; an actuator attached to the obstructed sensor that moves the obstructed sensor between a first position and a second position; a support structure around the obstructed sensor and set back from a wall of the vehicle; and at least one flexible cleaning member that covers the obstructed sensor in the second position and that bends over the support structure at a location between the obstructed sensor and the support structure, wherein, as the actuator moves the obstructed sensor between the first position and the second position and vice versa, the at least one flexible member cleans the surface of the obstructed sensor. - View Dependent Claims (13)
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Specification