Vehicle traction map for autonomous vehicles
First Claim
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1. A method of operating an autonomous vehicle, the method comprising:
- receiving, by a computing system comprising one or more computing devices, sensor data from at least one sensor of the autonomous vehicle;
determining, by the computing system, a first traction value based on the sensor data from the at least one sensor of the autonomous vehicle, the first traction value being correlative to a coefficient of friction;
associating, by the computing system, the first traction value with a first location of a first road surface;
determining, by the computing system, a second traction value of a second location of a second road surface by spatially extrapolating the first traction value of the first location with respect to the second location based on a comparison of respective road characteristics of the first location and the second location, the second location being spaced apart from the first location; and
storing, by the computing system, the first traction value with the first location and the second traction value with the second location.
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Abstract
A vehicle determines a traction value for a surface of a road segment, and associates the traction value with a location of the surface. The vehicle stores the traction value and location as part of a traction map.
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Citations
19 Claims
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1. A method of operating an autonomous vehicle, the method comprising:
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receiving, by a computing system comprising one or more computing devices, sensor data from at least one sensor of the autonomous vehicle; determining, by the computing system, a first traction value based on the sensor data from the at least one sensor of the autonomous vehicle, the first traction value being correlative to a coefficient of friction; associating, by the computing system, the first traction value with a first location of a first road surface; determining, by the computing system, a second traction value of a second location of a second road surface by spatially extrapolating the first traction value of the first location with respect to the second location based on a comparison of respective road characteristics of the first location and the second location, the second location being spaced apart from the first location; and storing, by the computing system, the first traction value with the first location and the second traction value with the second location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An autonomous vehicle comprising:
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memory to store instructions; and one or more processors to execute the instructions to; receive sensor data from at least one sensor of the autonomous vehicle; determine a first traction value based on the sensor data from the at least one sensor of the autonomous vehicle, the first traction value being correlative to a coefficient of friction; associate the first traction value with a first location of a first road surface; determine a second traction value of a second location of a second road surface by spatially extrapolating the first traction value of the first location with respect to the second location based on a comparison of respective road characteristics of the first location and the second location, the second location being spaced apart from the first location; and store the first traction value with the first location and the second traction value with the second location.
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19. A non-transitory computer readable medium that stores instructions, which when executed by one or more processors of an autonomous vehicle, cause the autonomous vehicle to perform operations that include:
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receiving sensor data from at least one sensor of the autonomous vehicle; determining a first traction value based on the sensor data from the at least one sensor of the autonomous vehicle, the first traction value being correlative to a coefficient of friction; associating the first traction value with a first location of a first road surface; determining a second traction value of a second location of a second road surface by spatially extrapolating the first traction value of the first location with respect to the second location based on a comparison of respective road characteristics of the first location and the second location, the second location being spaced apart from the first location; and storing the first traction value with the first location and the second traction value, with the second location.
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Specification