SYSTEMS AND METHODS FOR ADAPTIVE VEHICLE SENSING SYSTEMS

• US 20150039218A1
• Filed: 07/31/2013
• Published: 02/05/2015
• Est. Priority Date: 07/31/2013
• Status: Active Grant

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Bowers, Jeffrey A., Deane, Geoffrey F., Hannigan, Russell J., Hyde, Roderick A., Ishikawa, Muriel Y., Kundtz, Nathan, Myhrvold, Nathan P., Smith, David R., Sullivan, Philip A., Tegreene, Clarence T., Tuckerman, David B., Wood, Lowell L. Jr.
• Granted Patent: US 9,776,632 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters

Abstract

An adaptive sensing system is configured to acquire sensor data pertaining to objects in the vicinity of a land vehicle. The adaptive sensing system may be configured to identify objects that are at least partially obscured by other objects and, in response, the adaptive sensing system may be configured to modify the configuration of one or more sensors to obtain additional information pertaining to the obscured objects. The adaptive sensing system may comprise and/or be communicatively coupled to a collision detection module, which may use the sensor data acquired by the adaptive sensing system to detect potential collisions.

Claims

1. A method, comprising:

repositioning a sensing system of a land vehicle to acquire sensor data pertaining to a first object that is at least partially obscured by a second object; and

acquiring sensor data pertaining to the first object by use of the repositioned sensing system.

2. The method of claim 1, wherein repositioning the sensing system comprises directing the sensing system to the first object.

3. The method of claim 2, wherein repositioning the sensing system comprises changing an orientation of an emitter of the sensing system.

4. The method of claim 2, wherein repositioning the sensing system comprises changing a position of an emitter of the sensing system.

5. The method of claim 2, wherein repositioning the sensing system comprises changing an angle of an emitter of the sensing system.

6. The method of claim 2, wherein repositioning the sensing system comprises changing an orientation of a detector of the sensing system.

7. The method of claim 2, wherein repositioning the sensing system comprises changing a position of a detector of the sensing system.

8. The method of claim 2, wherein repositioning the sensing system comprises changing an angle of a detector of the sensing system.

9. The method of claim 2, wherein repositioning the sensing system comprises changing an orientation of an antenna of the sensing system.

10. The method of claim 2, wherein repositioning the sensing system comprises changing a position of an antenna of the sensing system.

11. The method of claim 2, wherein repositioning the sensing system comprises changing an angle of an antenna of the sensing system.

32. The method of claim 1, further comprising determining a signal path to the first object.

33. The method of claim 32, wherein repositioning the sensing system comprises repositioning the sensing system in accordance with the determined signal path.

34. The method of claim 32, wherein determining the signal path comprises determining a line of sight between the sensing system and the first object.

35. The method of claim 32, wherein the determined signal path passes over the second object.

36. The method of claim 32, wherein the determined signal path passes under the second object.

37. The method of claim 32, wherein the determined signal path passes around the second object.

38. The method of claim 32, wherein the determined signal path passes through a portion of the second object.

12-31. -31. (canceled)

39-139. -139. (canceled)

140. An apparatus, comprising:

a sensor positioning module configured to reposition a sensor of a land vehicle to acquire sensor data pertaining to a first object that is at least partially obscured by a second object; and

a data acquisition module configured to gather sensor data pertaining to the first object by use of the repositioned sensor.

141. The apparatus of claim 140, wherein the sensor positioning module is configured to reposition the sensor to direct the sensor to the first object.

151. The apparatus of claim 140, wherein the sensor positioning module comprises a boom, and wherein at least a portion of the sensor is deployed on the boom.

152. The apparatus of claim 151, wherein repositioning the sensor comprises repositioning one or more of a signal emitter and a signal detector by use of the boom.

153. The apparatus of claim 151, wherein repositioning the sensor comprises reorienting one or more of a signal emitter and a signal detector by use of the boom.

154. The apparatus of claim 151, wherein repositioning the sensor comprises retracting the boom.

155. The apparatus of claim 151, wherein repositioning the sensor comprises extending the boom.

156. The apparatus of claim 151, wherein one or more of a signal emitter and the signal detector are disposed on the boom.

166. The apparatus of claim 140, further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object.

167. The apparatus of claim 140, further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on time-of-flight of the sensor data.

168. The apparatus of claim 140, further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on Doppler characteristics of the sensor data.

169. The apparatus of claim 140, further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on kinematics of the first object and the second object.

170. The apparatus of claim 140, further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on a differential position of the first object and the second object.

171. The apparatus of claim 140, further comprising a processing module configured to determine a signal path to the first object.

193. The apparatus of claim 171, wherein the determined signal path contacts a portion of a third object.

205. The apparatus of claim 193, wherein the processing module is configured to determine the signal path based on a model of the third object.

206. The apparatus of claim 205, wherein the processing module is configured to model the third object by use of sensor data pertaining to the third object.

207. The apparatus of claim 205, wherein the processing module is configured to determine the signal path based on reflectance of portions of the third object.

208. The apparatus of claim 205, wherein the processing module is configured to determine the signal path further based on signal transmission through portions of the third object.

209. The apparatus of claim 205, wherein the processing module is configured to determine the signal path based on signal attenuation of portions of the third object.

244. The apparatus of claim 140, further comprising a processing module configured to determine determining kinematics of the first object by use of the sensor data pertaining to the first object.

245. The apparatus of claim 140, further comprising generating a collision detection model by use of sensor data acquired by use of the sensor.

246. The apparatus of claim 245, wherein the collision detection model comprises the first object.

247. The apparatus of claim 246, wherein the collision detection model comprises the second object.

248. The apparatus of claim 245, wherein the collision detection model is generated, at least in part, on the land vehicle.

142-150. -150. (canceled)

157-165. -165. (canceled)

172-192. -192. (canceled)

194-204. -204. (canceled)

210-243. -243. (canceled)

249-277. -277. (canceled)