DETECTING ROAD WEATHER CONDITIONS
First Claim
1. A method comprising:
- receiving, by a processor, laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points each data point of the plurality of laser data points having location and intensity information associated therewith;
determining, by a processor, an average intensity of the plurality laser data points associated with locations within the roadway;
comparing the average intensity to a threshold value associated with an expected average intensity of the roadway under dry weather conditions;
when the average intensity is above the threshold value, identifying, by a processor, an indication that the roadway is at least partially snow covered;
estimating, by a processor, driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and
using the estimate, by the processor, to make a driving decision for the vehicle.
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Accused Products
Abstract
Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.
42 Citations
20 Claims
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1. A method comprising:
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receiving, by a processor, laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points each data point of the plurality of laser data points having location and intensity information associated therewith; determining, by a processor, an average intensity of the plurality laser data points associated with locations within the roadway; comparing the average intensity to a threshold value associated with an expected average intensity of the roadway under dry weather conditions; when the average intensity is above the threshold value, identifying, by a processor, an indication that the roadway is at least partially snow covered; estimating, by a processor, driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and using the estimate, by the processor, to make a driving decision for the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising:
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a processor configured to; receive laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points each data point of the plurality of laser data points having location and intensity information associated therewith; determine an average intensity of the plurality laser data points associated with locations within the roadway; compare the average intensity to a threshold value associated with an expected average intensity of the roadway under dry weather conditions; when the average intensity is above the threshold value, identify an indication that the roadway is at least partially snow covered; estimate driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and use the estimate to make a driving decision for the vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method, the method comprising:
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receiving laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points each data point of the plurality of laser data points having location and intensity information associated therewith; determining an average intensity of the plurality laser data points associated with locations within the roadway; comparing the average intensity to a threshold value associated with an expected average intensity of the roadway under dry weather conditions; when the average intensity is above the threshold value, identifying an indication that the roadway is at least partially snow covered; estimating driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and using the estimate to make a driving decision for the vehicle. - View Dependent Claims (18, 19, 20)
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Specification