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Method and apparatus for monitoring of an autonomous vehicle

  • US 10,600,257 B2
  • Filed: 08/28/2017
  • Issued: 03/24/2020
  • Est. Priority Date: 08/28/2017
  • Status: Active Grant
First Claim
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1. A method for evaluating a subject spatial sensor disposed on an autonomous vehicle, wherein the subject spatial sensor is disposed to monitor a spatial environment proximal to the autonomous vehicle, and wherein the autonomous vehicle includes a telematics device disposed to communicate with an off-board controller, the method comprising:

  • determining a first state of health (SOH) parameter for the subject spatial sensor based upon internal monitoring of the subject spatial sensor, wherein a first field of view is associated with the subject spatial sensor, wherein the first SOH parameter is determined based upon signal integrity of the subject spatial sensor, wherein the first SOH parameter has a high value when the signal integrity of the subject spatial sensor is in accordance with its specification, and wherein the first SOH parameter has a low value when the signal integrity of the subject spatial sensor has deteriorated;

    determining a second SOH parameter for the subject spatial sensor based upon a correlation analysis of data generated by a second spatial sensor disposed on the autonomous vehicle;

    determining a third SOH parameter for the subject spatial sensor based upon historical data for the subject spatial sensor that is associated with a geographic location;

    determining a fourth SOH parameter for the subject spatial sensor based upon a correlation analysis with an input from a third spatial sensor that is disposed on a second vehicle, wherein the input from the third spatial sensor includes data associated with the geographic location;

    determining a fifth SOH parameter for the subject spatial sensor based upon a correlation analysis with an input from a calibration spatial sensor disposed on a calibration vehicle, wherein the input from the calibration spatial sensor includes data associated with the geographic location;

    determining an integrated SOH parameter for the subject spatial sensor based upon the first, second, third, fourth and fifth SOH parameters;

    comparing the integrated SOH parameter with a threshold SOH;

    detecting a fault in the subject spatial sensor when the integrated SOH parameter is greater than the threshold SOH;

    indicating, via an operator interface device, the fault for the subject spatial sensor; and

    controlling operation of the autonomous vehicle based upon the data generated by the second spatial sensor in response to the fault for the subject spatial sensor.

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